基于改进A^(*)-人工势场法的城市物流无人机路径规划  

Flight path planning for urban logistics UAV based on improved A^(*)-APF algorithm

作　　者：刘光才[1] 马寅松 齐福强[1] 许钰桀 LIU Guangcai;MA Yinsong;QI Fuqiang;XU Yujie(College of Transportation Science and Engineering,CAUC,Tianjin 300300,China)

机构地区：[1]中国民航大学交通科学与工程学院,天津300300

出　　处：《飞行力学》2022年第6期16-23,共8页Flight Dynamics

基　　金：国家软科学研究计划资助(2013GXS4B094)。

摘　　要：针对城市低空物流无人机的路径规划问题进行了研究。首先,采用栅格法设置三维飞行环境,综合考虑无人机自身性能和运行场景,以航行总代价最小为目标函数,构建多约束条件下的物流无人机路径规划模型。然后,设计一种改进A^(*)-人工势场相结合的算法进行模型的快速求解,在改进A*算法的代价函数中加入栅格危险度和有效载荷惩罚系数以提高安全性、降低成本,并在人工势场法中引入了偏航引力增益系数以解决局部陷阱。最后,开展了仿真计算与结果分析。研究结果表明:所构建模型可以实现预期效果,所设计的改进A*-人工势场算法具有规划时间少,所得路径航程短、能耗低、避障平滑、安全系数高等优点。The flight path planning for logistics UAV in urban low-altitude area is studied. Firstly, the grid method was used to set up a three-dimensional flight environment, and comprehensive factors such as the performance of UAV and operating airspace were considered. Taking the minimum total cost of navigation as the objective function, a multi-constrained logistics UAV path planning model was established. Then, to solve the model quickly, an improved A^(*)-APF(artificial potential field) combination algorithm was designed, the grid risk and payload penalty coefficient were added to the cost function of the improved A*algorithm to improve safety and reduce the cost, and the concept of yaw gravity gain coefficient was introduced in the artificial potential field method to solve the local trap. Finally, the simulation calculation and result analysis were carried out. The results show that the proposed model can achieve the expected performance, the designed improved A*-APF combination algorithm has the advantages of less planning time, shorter voyage, lower energy consumption, smoother obstacle avoidance and higher safety factor.

关 键 词：物流无人机 路径规划 改进A^(*)算法 人工势场法 偏航引力增益系数 有效载荷惩罚系数 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] V279[自动化与计算机技术—控制科学与工程] V249[航空宇航科学与技术—飞行器设计]