基于AP-DWA优化的无人机动态避障航迹规划  

Dynamic Obstacle Avoidance Trajectory Planning for Unmanned Aerial Vehicles Based on AP-DWA Optimization

作　　者：王剑辉[1] 于承玉 梁海军 周珺婕 刘晨宇 WANG Jian-hui;YU Cheng-yu;LIANG Hai-jun;ZHOU Jun-jie;LIU Chen-yu(Civil Aviation Flight University of China,Guanghan 618000,China)

机构地区：[1]中国民用航空飞行学院,四川广汉618000

出　　处：《航空计算技术》2023年第6期1-5,10,共6页Aeronautical Computing Technique

基　　金：四川省科技计划项目资助(2022YFG0210);中央高校基本科研业务费专项资金资助(J2022-057)。

摘　　要：针对传统动态窗口法在无人机航迹规划中存在无人机绕飞障碍物较远,只针对静态障碍物等问题,提出一种结合人工势场的优化动态窗口法。通过对障碍物坐标进行与时间相关的参数化,以实现动态障碍物的构建。根据人工势场法构造环境势场,并以仿真航迹末段势场值替换传统动态窗口法中的障碍物距离评价指标,避免无人机远距离绕飞障碍物。根据障碍物移动速度计算障碍物动能,将障碍物动能转化为障碍物移动方向上斥力势场,避免无人机与动态障碍物冲突。通过不同环境下的航迹规划实验表明,在静态环境下,所提算法缩短了航迹长度,提高了航迹经济性;在动态环境下,方法可以有效进行动态障碍物的避障,航迹可操作性高。In response to the traditional dynamic window method in drone trajectory planning,which only addresses static obstacles due to the fact that drones fly far away from obstacles,an optimized dynamic window method combined with artificial potential fields is proposed.Firstly,the construction of dynamic obstacles is achieved by parameterizing the coordinates of obstacles in a time dependent manner.Secondly,the environmental potential field is constructed based on the artificial potential field method,and the obstacle distance evaluation index in the traditional dynamic window method is replaced by the simulated potential field value at the end of the trajectory to avoid drones flying around obstacles at a long distance.Finally,the kinetic energy of obstacles is calculated based on their movement speed,and the kinetic energy of obstacles is converted into a repulsive potential field in the direction of obstacle movement to avoid conflicts between drones and dynamic obstacles.Through trajectory planning experiments in different environments,it is shown that this method shortens the length of the trajectory and improves the economy of the trajectory compared to traditional algorithms in static environments.In dynamic environments,this method can effectively avoid dynamic obstacles and has high maneuverability in flight paths.

关 键 词：人工势场 移动避障 航迹规划 动态窗口法 

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