UAV Obstacle Avoidance Algorithm Based on Priori Artificial Potential Field and PID-ADRC Hybrid Control

Aiming at the obstacle avoidance problem of Unmanned Aerial Vehicles (UAV) in practical application, this paper proposes a UAV trajectory obstacle avoidance algorithm based on Priori Artificial Potential Field (P-APF), while using PID and Active Disturbance Rejection Control (ADRC) for obstacle avoidance control of UAV. In view of the problems that the classical artificial potential field algorithm is easy to fall into local minima and the trajectory is tortuous, this paper analyzes the boundary repulsion potential field function in the actual scene and corrects the trajectory in advance based on the priori idea. Aiming at the problems of nonlinear and sensitive to disturbance of the UAV system, a hybrid position and attitude tracking control method based on the cascade PID-ADRC is proposed. The simulation results show that after adding white noise disturbance, the UAV can still avoid obstacles and reach the specified target position smoothly, and its attitude tracking is fast and stable with good anti-disturbance capability.