基于改进人工势场的物流无人机三维航迹规划  

Three-dimensional Trajectory Planning of Logistics UAV Based on Improved Artificial Potential Field

作　　者：陈明强[1] 冯树娟 李奇峰 CHEN Mingqiang;FENG Shujuan;LI Qifeng(School of Flight Technology,Civil Aviation Flight University of China,Guanghan 618307,China)

机构地区：[1]中国民用航空飞行学院飞行技术学院,四川广汉618307

出　　处：《无线电工程》2023年第10期2352-2359,共8页Radio Engineering

基　　金：民航飞行技术与飞行安全重点实验室自主研究项目(FZ2021ZZ06);大学生创新创业训练计划项目(S202210624187)。

摘　　要：针对传统人工势场(Traditional Artificial Potential Field,TAPF)法在物流无人机航迹规划中存在的目标不可达、易陷于局部最优等问题,提出了一种改进的人工势场法。在斥力势场函数中添加无人机和目标点之间的相对距离,解决目标不可达问题;采用一种球体模型策略跳出局部最优的陷阱。仿真结果表明,改进的人工势场法能够灵巧地避开所有障碍物并有效地规划出符合要求的最佳航迹。Some problems exist in Traditional Artificial Potential Field(TAPF)method for logistics UAV flight path planning,for example,sometimes the targets are unreachable and it is easy to fall into local optimal solution.An improved artificial potential field method is proposed,in which the relative distance between the UAV and the target point is added into the repulsive potential field function to solve the unreachable target problem,and a sphere model strategy is used to get out of the local optimal solution trap.The simulation results show that the improved artificial potential field method can skillfully avoid all obstacles and effectively plan the best flight path that meets the requirements.

关 键 词：人工势场法 物流无人机 航迹规划 避障 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] V249[自动化与计算机技术—控制科学与工程]