满足末端航向约束的人工势场法算法研究  

Research on Artificial Potential Field Algorithm with Terminal Heading Constraints

作　　者：赵正戴 谢如恒 南英[1] ZHAO Zheng-dai;XIE Ru-heng;NAN Ying(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210016

出　　处：《计算机仿真》2021年第9期84-89,共6页Computer Simulation

摘　　要：人工势场法目前已经成为航迹规划问题中的研究热点。传统的人工势场法解决了避障问题以及目标不可达问题等,但却未对其增加末端航向约束。针对以上问题,在航迹末端以目标点为中心,建立起新的人工势场,形成新的入场模型,从而达到飞行器以指定方向进入目标点的目的;采用比例导引法对规划航迹进行跟踪以验证其可飞性,并对导引点的选取做出要求。MATLAB仿真证明,此入场模型满足末端航向约束,能够使飞行器以指定方向到达目标点,且任意方向都能够实现,并满足可飞性要求。Artificial potential field method has become a research hotspot in path planning.The traditional artificial potential field method can solve the obstacle avoidance problem and target unreachable problem,but it does not add terminal heading constraints.In order to solve the above problems,centering on the target point,this paper established a new artificial potential field at the end of path,and a new entry model was formed to achieve the goal of the aircraft entering the target point in the specified direction;To verify its feasibility,the proportion guidance method was used to track the planned track,and the selection of guidance points was required.The simulation results of MATLAB show that the entry model satisfies the terminal heading constraints,enables the aircraft to reach the target point in a specified direction,and can be achieved in any direction,and satisfies the feasibility.

关 键 词：人工势场 末端航向约束 入场模型 比例导引 航迹规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]