基于APF的局部路径规划算法研究  

Study on Local Path Planning Based on APF Method

作　　者：魏进武 范庆明[1] 彭玉海 杨黄旭 WEI Jinwu;FAN Qingming;PENG Yuhai;YANG Huangxu(School of Mechatronic Engineering,Xi’an Technological University,Xi’an 710021,China;School of Aircraft,Xi’an Aeronautical Institute,Xi’an 710077,China)

机构地区：[1]西安工业大学机电工程学院,西安710021 [2]西安航空学院飞行器学院,西安710077

出　　处：《火力与指挥控制》2024年第4期177-184,共8页Fire Control & Command Control

基　　金：陕西省科学技术厅基金(2020KW-017);西安工业大学研究生教育教学改革研究资助项目(XAGDYJ190106)。

摘　　要：针对传统人工势场法(artificial potential field,APF)规划的路径存在易陷入局部最优与路径不平滑问题,提出一种“触碰引导”策略为先导的控制方法。该方法在无人机运动过程中,引入合适的阶段性子目标点引导无人机飞行,从而降低规划结果陷入局部极值点的概率,并利用贝塞尔曲线法处理控制点以解决路径平滑问题。仿真实验结果表明,改进后的算法能够有效解决易陷入局部极小值点和路径不平滑问题,相较于传统算法效率更高。Aiming at the problems of local optimization and path unsmoothness in the path planned by the traditional artificial potential field(APF),a control method led by the“touch guidance”strategy is proposed.In this method,in the process of UAV movement,a suitable staged sub-target point is introduced to guide the UAV flight,so as to reduce the probability of the planning results falling into the local extreme point,and Bezier curve method is used to process the control points so as to solve the path smoothing problem.The simulation results show that the improved algorithm can effectively solve the problems of easy falling into minimum points and unsmooth paths,it is more efficient than the traditional algorithm.

关 键 词：人工势场法 无人机 局部路径规划 触碰引导 贝塞尔曲线 

分 类 号：V279[航空宇航科学与技术—飞行器设计]