基于动态人工势场法的多机改航路径规划研究

摘要

In dangerous weather conditions ,it is necessary to research the problem of rerouting path plan-ning .This paper improves the repulsion potential function of the traditional artificial potential field algo-rithm by taking distance of the target and obstacles and restricted areas moving speed into consideration , and establishes dynamic artificial potential field method for multi-aircraft rerouting .The model can solve the problem that aircrafts can′t reach the target locations when the obstacles near the targets ,and it also adapts to the dynamic operating environment .Numerical example proves the validity and feasibility of the model.%在危险天气条件下，需要研究航班改航路径规划的问题。对传统人工势场法中的斥力势函数进行修正，将目标点与障碍物的距离以及航空器与受限区的运动速度考虑在内，建立了动态人工势场法的多机改航路径规划模型。模型解决了障碍物附近目标不可达问题，并且适应动态运行环境。算例验证了模型的有效性和可行性。