# Modified Artificial Potential Field for the Path Planning of Aircraft Swarms in Three-Dimensional Environments

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## Abstract

**:**

## 1. Introduction

- implementation of a modified APF algorithm with a vortex field that spins over three directions aiming to avoid local minima, collisions, as well as oscillations in narrow passages and in the influence threshold associated with the obstacles;
- development of a technique in which each aircraft analyzes its position in relation to the obstacles and the target, individually determining the best direction of rotation for the vortex field generated by each obstacle aiming at safe motion in the workspace. In this way, agents can adapt to scenarios with new types of obstacles on a real-time basis;
- discussion of experimental tests performed with aircraft model Crazyflie 2.0 in a scenario comprising dynamic targets, as well as obstacles that may require the hierarchical cooperation among agents. From the results, it is possible to verify that the algorithm is viable to be applied in real-time experiments.

## 2. Modeling and Control of a Quadrotor

_{p}, K

_{i}, and K

_{d}are the proportional, integral, and derivative gains, respectively; T

_{s}is the sampling period; e

_{k}and e

_{k}

_{−1}are the present and past values of the error signal, respectively; u

_{k}is the output signal. Anti-windup limiters are associated with the integral term |I

_{lim}| and the output signal |u

_{lim}|.

## 3. Artificial Potential Field

#### 3.1. Attractive Field

#### 3.2. Repulsive Field

#### 3.3. Vortex Field

#### 3.4. Cooperation

#### 3.5. Resultant Field and Path

_{lim}, the estimated sampling time between the calculation of each route point given by T

_{st}, and the sampling resolution of the workspace corresponding to Res. Once the route points are determined for each agent, this very same procedure is repeated iteratively until all the aircrafts are close to their respective targets while also respecting the imposed reference values.

## 4. Methodology

Algorithm 1: Python Interface | |

1 | Input: none |

2 | Output:UAV_position, UAV_SP |

3 | Declare:t, UAV_initial_position |

4 | Check_crazyflie () |

5 | Send_crazyflie (UAVs_initial_position) |

6 | UAV_position = Get_crazyflie_position () |

7 | Start (t_test) |

8 | While t_test <= t do |

9 | Start (t_control) |

10 | UAV_position_vec.append (UAV_position) |

11 | Time_vec.append = t_test |

12 | New_SP = Modified_vortex_APF (UAV_position (end), t_test) (presented in Algorithm 2) |

13 | Send_crazyflie (New_SP) |

14 | UAV_SP.append = New_SP |

15 | Wait (t_control => 1000 “ms”) |

16 | end While |

17 | Land_Crazyflie () |

18 | Save UAV_position, UAV_SP, Time_vec |

Algorithm 2: Modified APF | |

1 | Input: UAVs_position, t_test |

2 | Output: UAV_SP |

3 | Declare Target, target_speed, Obstacle, obstacle_speed, k_a, k_r, k_v, max_vel |

5 | Target_pos = update (Target, target_speed, t_test) |

6 | Obstacle_pos = update (Obstacle, obstacle_speed, t_test) |

7 | n_UAV = length (UAV_position)/3 |

8 | for j = 1: n_UAV do |

9 | j_index = [1 + 3 ∗ (j − 1) 3 ∗ j] |

10 | Obs_expand = (Obstacle_pos, UAV_position (not (j_index))) |

11 | spin_dir = Vortex_field_spin_direction (Target_pos, Obs_expand, UAV_position (j_index)) |

12 | Att_field = Attractive_field (Target_pos) |

13 | Rep_field = Repulsive_field (Obs_expand) |

14 | Vor_field = Vortex_field (Obs_expand) |

15 | WS_field = k_a ∗ Att_field + k_r ∗ Rep_field + k_v ∗ Vor_field |

16 | new_SP = steepest_descent (WS_field, max_vel) |

17 | UAV_SP (j_index) = New_SP |

18 | end for |

19 | Return: UAV_SP |

## 5. Results

#### 5.1. Simulation Results

#### 5.2. Experimental Results

## 6. Conclusions

## Supplementary Materials

## Author Contributions

## Funding

## Data Availability Statement

## Conflicts of Interest

## References

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Variable | K_{p} | K_{i} | K_{d} | |I_{lim}| | |u_{lim}| |
---|---|---|---|---|---|

X | 1.8 | 0.0 | 0.0 | 5000 | 1.10 |

Y | 1.8 | 0.0 | 0.0 | 5000 | 1.10 |

Z | 1.8 | 0.7 | 0.2 | 5000 | 1.10 |

$\dot{X}$ | 25.0 | 5.0 | 0.0 | 5000 | 22.0 |

$\dot{Y}$ | 25.0 | 5.0 | 0.0 | 5000 | 22.0 |

$\dot{Z}$ | 25.0 | 15.0 | 0.0 | 5000 | 32.7 |

$\varphi $ | 8.0 | 3.0 | 0.0 | 20.0 | - |

$\theta $ | 8.0 | 3.0 | 0.0 | 20.0 | - |

$\psi $ | 4.0 | 1.0 | 0.35 | 360.0 | - |

$\dot{\varphi}$ | 250.0 | 500.0 | 2.5 | 33.3 | - |

$\dot{\theta}$ | 250.0 | 500.0 | 2.5 | 33.0 | - |

$\dot{\psi}$ | 120.0 | 16.7 | 0.0 | 166.7 | - |

Component | Signal | Mathematical Operations |
---|---|---|

$\overrightarrow{{R}^{X}}$ | ≤0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ |

>0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ | |

$\overrightarrow{{R}^{Y}}$ | ≤0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ |

>0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ | |

$\overrightarrow{{R}^{Z}}$ | ≤0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ |

>0 | ${}_{n}{}^{m}F{}_{V}^{X}\left(q\right)={}_{n}{}^{m}F{}_{V}^{X}\left(q\right)-{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Y}\left(q\right)+{K}_{V}\cdot {}_{n}{}^{m}F{}_{V}^{X}\left(q\right)$ ${}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)={}_{n}{}^{m}F{}_{V}^{Z}\left(q\right)$ |

Variable | Value | Unit | |
---|---|---|---|

Workspace size (x, y, z) | (2.2, 3.8, 2.0) | (m) | |

Time of execution | 21 | (s) | |

Target initial position (x, y, z) | (1.2, 2.6, 1.2) | (m) | |

Target trajectory (as a function of time “t”) | x | 0.5 sin(t/3.5) | (m/s) |

y | 0.8 cos(t/3.5) | (m/s) | |

z | 0.7 sin(t/3.5) | (m/s) | |

Obstacle size (x, y, z) | (0.4, 0.4, 0.3) | (m) | |

Obstacle center of mass initial position (x, y, z) | (1.1, 1.9, 1.25) | (m) | |

Obstacle trajectory (as a function of time “t”) | x | 0.02t | (m/s) |

y | −0.02t | (m/s) | |

z | 0.00t | (m/s) | |

Initial coordinates of the UAV 1 (x, y, z) | (0.6, 0.5, 0.5) | (m) | |

Initial coordinates of the UAV 2 (x, y, z) | (1.1, 0.5, 0.5) | (m) |

Variable | Value | Unit |
---|---|---|

Attractive field gain coefficient | 1 | - |

Repulsive field gain coefficient | 2 | - |

Distance of influence of the obstacle | 0.6 | m |

Vortex field gain coefficient (when applied) | 4 | - |

UAV speed constraint | 0.3 | m/s |

Metric | Conventional APF | LTAPF | Proposed APF | |||
---|---|---|---|---|---|---|

UAV1 | UAV2 | UAV1 | UAV2 | UAV1 | UAV2 | |

Total distance travelled (m) | 5.0797 | 4.9327 | 5.1585 | 5.2856 | 5.3627 | 5.1027 |

Final target approach (m) | 0.4475 | 0.3532 | 0.4089 | 0.3038 | 0.3238 | 0.2843 |

Mean target distance (m) | 0.8762 | 0.9280 | 1.0378 | 0.8066 | 0.8729 | 0.8590 |

Collision | Yes | Yes | Yes | No | No | No |

Quad/Test | Axis | Max. Error (m) | Min. Error (m) | IAE |
---|---|---|---|---|

x | 0.396 | 0.000 | 2.516 | |

UAV 1–Test 1 | y | 0.511 | 0.003 | 3.812 |

z | 0.379 | 0.000 | 2.937 | |

x | 0.370 | 0.000 | 2.473 | |

UAV 1–Test 2 | y | 0.435 | 0.001 | 3.772 |

z | 0.381 | 0.000 | 2.870 | |

x | 0.408 | 0.001 | 2.530 | |

UAV 1–Test 3 | y | 0.493 | 0.002 | 3.780 |

z | 0.345 | 0.000 | 2.878 |

Quad/Test | Axis | Max. Error (m) | Min. Error (m) | IAE |
---|---|---|---|---|

x | 0.388 | 0.000 | 2.458 | |

UAV 2–Test 1 | y | 0.470 | 0.002 | 3.635 |

z | 0.348 | 0.000 | 2.408 | |

x | 0.354 | 0.001 | 2.542 | |

UAV 2–Test 2 | y | 0.477 | 0.000 | 3.683 |

z | 0.294 | 0.000 | 2.442 | |

x | 0.350 | 0.000 | 2.605 | |

UAV 2–Test 3 | y | 0.456 | 0.000 | 3.846 |

z | 0.339 | 0.001 | 2.600 |

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## Share and Cite

**MDPI and ACS Style**

Souza, R.M.J.A.; Lima, G.V.; Morais, A.S.; Oliveira-Lopes, L.C.; Ramos, D.C.; Tofoli, F.L.
Modified Artificial Potential Field for the Path Planning of Aircraft Swarms in Three-Dimensional Environments. *Sensors* **2022**, *22*, 1558.
https://doi.org/10.3390/s22041558

**AMA Style**

Souza RMJA, Lima GV, Morais AS, Oliveira-Lopes LC, Ramos DC, Tofoli FL.
Modified Artificial Potential Field for the Path Planning of Aircraft Swarms in Three-Dimensional Environments. *Sensors*. 2022; 22(4):1558.
https://doi.org/10.3390/s22041558

**Chicago/Turabian Style**

Souza, Rafael Monteiro Jorge Alves, Gabriela Vieira Lima, Aniel Silva Morais, Luís Cláudio Oliveira-Lopes, Daniel Costa Ramos, and Fernando Lessa Tofoli.
2022. "Modified Artificial Potential Field for the Path Planning of Aircraft Swarms in Three-Dimensional Environments" *Sensors* 22, no. 4: 1558.
https://doi.org/10.3390/s22041558