改进人工势场法的无人机避障路径规划  

Obstacle Avoidance Path Planning of UAV Based on Improved Artificial Potential Field Method

作　　者：涂柯 侯宏录[1] 苏炜[1] TU Ke;HOU Honglu;SU Wei(School of Optoelectronic Engineering,Xi’an Technological University,Xi’an 710021,China)

机构地区：[1]西安工业大学光电工程学院,西安710021

出　　处：《西安工业大学学报》2022年第2期170-177,共8页Journal of Xi’an Technological University

基　　金：陕西省工业科技攻关项目(2016GY-051);陕西省教育厅重点实验室科研计划项目(15JS035)。

摘　　要：为了解决人工势场法目标不可达、局部极小值陷阱及路径长度过长问题,提出一种基于传统人工势场法的无人机避障路径规划改进算法。通过将相对距离引入到斥力势场函数中解决目标不可达问题;将调控力引入传统人工势场法中解决局部极小值陷阱问题;将检测因子引入传统人工势场法中排除无效斥力影响,优化无人机避障路径,减小路径长度。最终仿真实验结果表明,改进算法有效解决了目标不可达、局部极小值陷阱、路径长度长问题,减小路径长度9%~15%。该算法相比于传统人工势场法,有效提高了避障效率。In order to solve the problems that the targets cannot be reached,that there are local minimum traps and that the path length is too long,an improved algorithm for UAV obstacle avoidance path planning is proposed based on the traditional artificial potential field method.The relative distance is introduced into the repulsion potential field function,which enables UAV to reach the targets.The control force is introduced into the traditional method to solve the problem of the local minimum trap.The detection factor is introduced to eliminate the influence of invalid repulsion and optimize the UAV obstacle avoidance path to reduce the path length.Simulation results show that the problems mentioned above can be solved effectively by the improved algorithm and that the path length is reduced by 9%~15%.Compared with the traditional method,the algorithm improves the efficiency of obstacle avoidance effectively.

关 键 词：无人机 避障路径 相对距离 调控力 检测因子 

分 类 号：V279[航空宇航科学与技术—飞行器设计]