基于改进人工势场法的无人机航迹规划

针对传统人工势场(traditional artificial potential field, TAPF)方法在无人机航迹规划时航迹摆动幅度较大且容易陷入局部极小值的问题, 提出了一种改进人工势场法。首先在TAPF方法的基础上, 引入角度与速度调节因子, 模拟更真实的无人机飞行轨迹; 然后再引入辅助避障力, 实现避障的同时平滑轨迹; 最后对改进航迹规划算法与TAPF方法进行仿真实验。结果表明, 相较于传统算法, 改进后的航迹规划算法在航迹平滑性上有显著提升, 并且有效地避开了局部最小值点。

UAV path planning based on improved artificial potential field

Traditional artificial potential field (TAPF) method has a large trajectory swing and falls into the local minimum point potentially. In order to solve this problem, an improved artificial potential field is proposed. Firstly, on the basis of TAPF method, the angle and speed adjustment factors are introduced to simulate a more realistic flight path of the unmanned aerial vehicle. Then, the auxiliary obstacle avoidance force is introduced to achieve obstacle avoidance while smoothing path. Finally, the simulation of the improved and TAPF method shows that the improved obstacle avoidance algorithm has a significant improvement in the smoothness of the trajectory compared with the traditional algorithm, and unmanned aerial vehicle avoids the local minimum and the local minimum point successfully.