基于改进人工势场法的巡航导弹自主避障技术

针对巡航导弹在巡航段的自主避障问题，提出一种改进的人工势场法.为解决传统人工势场法无法避免的局部极小问题，本文将局部极小分为两类，分别给出两类极小值的判定定理及方法，同时给出消除局部极小的措施.考虑导弹的可用过载约束，以连续可微的对数函数构造势场函数，定量描述禁飞区和目标点；此外，为实现自主规避禁飞区，合理设置引力场和斥力场的作用区域和调整势场函数的参数，使导弹在合势场的作用下，获得一条适飞轨迹最终抵达目标点.最后，通过数学仿真，验证了这种方法的有效性. 

Autonomous Collision Avoidance Technique of Cruise Missiles Based on Modified Artificial Potential Method

A novel methodology has been developed for path planning of cruise missile.To solve the local minimum problem of traditional artificial potential field method,minima were divided into two types.The judgment theorems and criterions were given respectively,and the corresponding solutions were proposed to eliminate the local minima.Then,available overload condition was taken into consideration,and potential fields were generated by using logarithmic function to represent the goal and no-fly zones.Furthermore,operational region of repulsive forces and attractive force was set reasonably,and the parameters of potential were adjusted for purpose of avoiding collision.Under the influence of the potential fields,a flyable path is found to reach the goal.Finally,the mathematical simulation results demonstrate the effectiveness of the proposed approach.