Unmanned aerial vehicle formation flight obstacle avoidance method based on laser radar and artificial potential field

The invention provides an unmanned aerial vehicle formation flight obstacle avoidance method based on laser radar and an artificial potential field. The method comprises the steps of: determining Euclidean distances between obstacles and an unmanned aerial vehicle by scanning cloud data of the obstacles, and ranking all the Euclidean distances to obtain the minimum distance from the unmanned aerial vehicle formation to the obstacles; and calculating the resultant force of an attraction force and a repulsive force according to the minimum distance in combination with an artificial potential field, and determining the flight path of the unmanned aerial vehicle formation according to the magnitude of the resultant force, so that the unmanned aerial vehicle formation avoids the obstacle and flies to a target point, and a flight task is efficiently completed. 本发明提供的基于激光雷达与人工势场法的无人机编队飞行避障方法，通过扫描障碍物的点云数据，确定障碍物与无人机的欧氏距离，并对所有的欧式距离进行排序，得到无人机编队至障碍物的最小距离，根据最小距离结合人工势场法计算吸引力和排斥力的合力，根据合力的大小确定无人机编队的飞行路径，使无人机编队避开障碍物飞行至目标点，从而高