Artificial Potential Field based Receding Horizon Control for path planning

In this work, a path planning algorithm integrating Artificial Potential Field (APF) approach and Receding Horizon Control (RHC) is proposed. The optimal solution to path planning according to APF approach and the computational efficiency in terms of RHC contribute to this algorithm. On account of the additivity of potential function, the abrupt variation of the environment, including the targets and the obstacles, is reduced to “virtual disturbance”. An additional control term is involved in path planning to escape from local minima of APF. Meanwhile, the introduction of the additional control term accomplishes the description of specified property index other than distance and control energy. The proposed approach also supports an efficient frame for future cooperative task of multiple-UAV mission.