基于APF算法的无人机动态航迹规划研究及仿真  

Exploration and Simulation of UAV Dynamic Path Planning based on APF Algorithm

作　　者：白园 刘婵[1] 何健辉[1] BAI Yuan;LIU Chan;HE Jian-hui(No.30 Institute of CETC,Chengdu Sichuan 610041,China)

机构地区：[1]中国电子科技集团公司第三十研究所,四川成都610041

出　　处：《通信技术》2018年第8期1900-1907,共8页Communications Technology

摘　　要：由于规划速度快、实时性好等优点,利用人工势场法对无人机进行动态航迹规划越来越受到关注。但是,算法存在局部最小和目标不可达等缺陷,会使无人机航迹规划不成功而不能完成作战任务。为此,将相对位置和相对速度分量引入斥力势函数中;为了减少路径冗余、提高效率,提出了分层避障策略;为了节约规划时间,在避障时根据不同的作战场景智能选择避障方式,使无人机能成功躲避各种威胁,且快速、安全地到达目标点完成作战任务。最后,利用Matlab进行仿真,验证了设计算法的有效性。Due to the advantages of fast planning and good real-time performance, the using of artificial potential field method for dynamic path planning of drones attracts more and more attention. However, the algorithm, with local minimum and target-unreachable defects, would make the UAV path planning unsuccessful and unable to complete the combat mission. For this reason, the relative position and relative velocity components are introduced into the repulsion potential function. In order to reduce path redundancy and improve efficiency, a layered obstacle avoidance strategy is proposed, and for the purpose to save planning time, the obstacle avoidance mode is intelligently selected in accordance with different combat scenarios during obstacle avoidance, so that the drone can successfully avoid various threats, quickly and safely reach the target point and complete the combat mission. Finally, Matlab simulation indicates the effectiveness of the design algorithm.

关 键 词：人工势场(APF) 航迹规划 无人机(UAV) 避障 

分 类 号：TN918[电子电信—通信与信息系统]