基于人工势场法的筒弹自动装填路径规划  

Path Planning of Missile Automatic Loading Based on Artificial Potential Field Method

作　　者：陈飞[1,2] 王旭烽 刘可平 唐晓峰 刘宁 CHEN Fei;WANG Xufeng;LIU Keping;TANG Xiaofeng;LIU Ning(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;Shanghai Electrical Mechanical Engineering Institute, Shanghai 201109, China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]上海机电工程研究所,上海201109

出　　处：《兵器装备工程学报》2020年第4期26-30,共5页Journal of Ordnance Equipment Engineering

基　　金：冲击波物理与爆轰物理重点实验室基金(6142A0302020517)。

摘　　要：在改进势场函数的基础上,通过最优化方法对引力及斥力函数中的增益系数进行调整,从而改变合力的信息。建立筒弹装填环境下的三维矩形障碍物模型,并进行仿真研究。结果表明该方法能更好地避开局部极小值点,达到优化路径的目的。The gain coefficient in gravitational and repulsive functions was modified by the optimization theory method based on the improved potential field function so as to change the information of the resultant force.A three-dimensional rectangular obstacle model under the condition of missile loading was established and simulated.Results show that the local minimum point can be avoid better and achieve the purpose of path optimizing.

关 键 词：人工势场法 三维路径规划 自动装填 

分 类 号：TJ812[兵器科学与技术—武器系统与运用工程]