Satellite simulator formation obstacle avoidance path planning method based on artificial potential field method

The invention discloses a satellite simulator formation obstacle avoidance path planning method based on an artificial potential field method, belongs to the field of spacecrafts, and aims to solve the problems of existing satellite simulator formation. The method comprises the following steps: S1, determining the poses of n satellite simulators in a formation and the positions of obstacles; s2, calculating a resultant force direction of each satellite simulator based on an artificial potential field method as a motion direction; s3, each time the current position is further updated, whether the current position is a local minimum point or not is judged, and if yes, the satellite simulator is made to detour from an obstacle where the local minimum point appears or other satellite simulators and leave the range of the local minimum point, and if not, the satellite simulator is made to detour from the obstacle where the local minimum point appears or other satellite simulators; if not, executing the step S4; s4