An artificial potential field model with constraints

Aim to the shortage of traditional artificial potential field (APF) method which is difficult joined constraints, the models combined with turning and evaluation constraints are researched in the background of unmanned aerial vehicle (UAV) route planning. In this paper, the principle of path planning based on APF is introduced firstly. Then, the model combined with constrain of horizontal deflection according to UAV´s flight performance is analyzed detailedly. The influencing radius of obstacle is also calculated. Finally, the evaluation method and models of route planning are investigated based on work.