Research on the Application of Geofence Buffer in UAV Path Tracking

This deviation is especially pronounced, thereby increasing the risk of collision with obstacles. To address this challenge, the concept of geofence buffer zones is introduced in this study.

By establishing buffer areas of specific widths around obstacles and deploying artificial potential field functions within these areas, the existing path tracking algorithms are enhanced, significantly reducing the likelihood of collisions between UAVs and obstacles. Furthermore, a series of comparative experiments are conducted on multi-rotor UAVs in a virtually dense obstacle environment using software-in-the-loop simulation technology.