基于平面约束人工势场的无人机航迹规划算法  

UAV Path Planning Method Based on Plane-constrained Artificial Potential Field

作　　者：高璕 张磊[3] 胡高歌[1,2] 杨子江 高兵兵 Gao Xun;Zhang Lei;Hu Gaoge;Yang Zijiang;Gao Bingbing(Northwest Polytechnical University,Xi’an 711072,China;Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518057,China;AVIC Aeronautical Computing Technique Research Institute,Xi’an 710065,China)

机构地区：[1]西北工业大学,陕西西安710072 [2]西北工业大学深圳研究院,广东深圳518057 [3]航空工业西安航空计算技术研究所,陕西西安710065

出　　处：《航空科学技术》2023年第8期68-76,共9页Aeronautical Science & Technology

基　　金：航空科学基金(20200019053003,20181953021);陕西省重点研发计划项目(2023-YBGY-375);深圳市科技计划(JCYJ20210324121602008)。

摘　　要：航迹规划是实现无人机自主导航飞行的关键。针对人工势场法应用于无人机航迹规划时出现的规划失败、实用性不强的问题,本文提出一种基于平面约束人工势场的航迹规划算法。首先,利用约束平面切割障碍物,简化了障碍物的分布。其次,构建航迹的可行性约束条件,并建立了基于约束平面的人工势场法。最后,综合并改进了一种额外控制力法和常用的改进势场函数。仿真验证表明,该算法克服了传统人工势场法未考虑无人机物理性能限制、易陷入局部最小值以及目标不可达的问题,同时提高了航迹规划质量。通过本文研究,人工势场法的不足得到了改善,有利于人工势场法在无人机航迹规划领域的应用与发展。Path planning is the key to realize autonomous navigation flight of Unmanned Aerial Vehicles(UAV).This paper proposed an UAV path planning method based on plane-constrained artificial potential field in order to overcome the problems of planning failure and low practicality when applying the artificial potential field method to UAV path planning.Firstly,the use of the constraint plane to cut obstacles simplified the distribution of obstacles.Secondly,the feasibility constraints of flight path were constructed,and the artificial potential field based on the constraint plane was established.Finally,this paper synthesized and improved the extra control force method and commonly used improved potential field functions.Simulations have verified that the proposed method overcomes the problems that traditional artificial potential field method does not consider the physical performance limitations of UAVs,is easy to fall into local minima and unable to reach targets.At the same time,the path planning quality is improved.Through the research,the shortcomings of artificial potential field method have been improved,which is conducive to the application and development of artificial potential field method in the field of UAV path planning.

关 键 词：无人机 航迹规划 人工势场法 避障 额外控制力法 

分 类 号：V249[航空宇航科学与技术—飞行器设计]