基于改进人工势场法的通用航空路径规划  

General Aviation Path Planning Based on Improved Artificial Potential Field Method

作　　者：杨昌其[1] 陈旭辉 李君皓 周浩敏 YANG Chang-qi;CHEN Xu-hui;LI Jun-hao;ZHOU Hao-min(Civil Aviation Flight University of China,Guanghan 618000,China;Beijing Capital Airport Group,Beijing 101000,China)

机构地区：[1]中国民用航空飞行学院,四川广汉618000 [2]北京首都机场集团,北京101000

出　　处：《航空计算技术》2024年第2期37-40,46,共5页Aeronautical Computing Technique

基　　金：民航局安全能力建设资金项目资助(民航局合同(2021)87号)。

摘　　要：通用航空飞机在飞行过程除了要面对障碍物和天气系统的威胁,同时也受到飞行空域的限制,往往飞机只能在一块固定的空域或狭小的飞行走廊内飞行,一旦飞出限制空域,则有可能引发飞行冲突,甚至发生严重的安全事故。针对这些问题,在人工势场法斥力势场函数中添加航空器和目标点之间的相对距离函数,首先解决传统人工势场法存在的目标不可达问题和局部极小点问题,然后在算法中加入航路边界斥力影响因子,使飞机避障后在边界斥力的作用下重回航路中心。经过MATLAB仿真验证,试验结果表明,改进后的人工势场法能够实现主动避障和飞机航迹的规划。In the course of flight,general aviation aircraft not only have to face the threat of obstacles and weather systems,but also limited by the flight airspace,the aircraft often can only fly in a fixed airspace or a narrow flight corridor,once it flies out of the restricted airspace,it may lead to flight conflicts,or even serious safety accidents.In order to solve these problems,the relative distance function between the aircraft and the target point is added to the repulsive potential field function of the artificial potential field method.Firstly,the problems of target unreachability and local minima existing in the traditional artificial potential field method are solved.Then,the influence factor of the repulsion force of the route boundary is added to the algorithm to make the aircraft return to the center of the route under the action of the boundary repulsion force after avoiding obstacles.Verified by MATLAB simulation,the experimental results show that the improved artificial potential field method can realize active obstacle avoidance and aircraft path planning.

关 键 词：人工势场法 航路边界斥力 相对距离函数 目标不可达 局部极小点 

分 类 号：V328[航空宇航科学与技术—人机与环境工程]