战场环境侦察无人车避障算法的优化设计  

Optimization Design of Obstacle Avoidance Algorithm for Unmanned Vehicles

作　　者：张小明 于纪言[1] ZHANG Xiaoming;YU Jiyan(School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《兵器装备工程学报》2020年第9期80-84,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(11402121)。

摘　　要：为了避免由于战场环境的未知性和危险性造成作战人员伤亡,提出了一种战场环境侦察无人车避障算法。在人工势场法基础上,针对局部最小点问题提出了“米”字试走改进方法;针对目标点不可到达问题,提出了重新定义斥力场函数的改进方法。通过设计人工势场法和其他常用避障方法的对比性实验以及改进人工势场法与人工势场法的对比性实验,验证了改进人工势场法的可靠性和快速性,相较于其他避障方法对战场环境有更好的适用性。In order to avoid the casualties caused by the unknowns and dangers of the battlefield environment,a battlefield environment detection unmanned vehicle obstacle avoidance algorithm was proposed.On the basis of the artificial potential field method,we improved“米”test method for the local minimum point problem;An improved method for redefining the repulsive field function was proposed for the unreachable problem of the target point.By designing and improving the artificial potential field method and the artificial potential field method and improving the artificial potential field method and other common obstacle avoidance methods,the reliability and rapidity of the improved artificial potential field method were fully verified,and compared with other obstacle avoidance methods.The method has better applicability to the battlefield environment.

关 键 词：战场环境 避障 局部最小点 目标点 斥力场函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]