基于改进人工势场法的无人机在线航路规划算法

摘要

Online route planning could make the UAV in the dynamic environment quickly and efficiently generate suitable flight routes so that it is the necessary ability of UAV mission planning.This paper presents a three-dimensional online route planning method based on the adaptive artificial potential field method,which could cope with the UAV dynamic flight environment and quickly generate the real-time safety flight route that satisfies the task requirement.The route planning method uses the reference route gravitational field and the adaptive time disturbance factor in the process of constructing environment to help the UAV escape the trap when fall into the local minimum of potential field.And a virtual target method is proposed to help effectively solve the trapping problem.Computer simulation results show that the UAV online route planning method is easier to jump out of the local minimum of the potential field than the traditional method,and has better obstacle avoidance capability.%在线航路规划能够使无人机针对动态变化的环境快速有效地生成相适应的飞行航路,是无人机任务规划系统必需的能力之一.基于人工势场法提出一种三维在线航路规划方法,使无人机在应对动态变化的飞行环境时能实时规划出保障飞行安全并满足其任务执行效率指标的飞行航路.此航路规划方法在环境构建过程中引入了参考航路引力场和自适应的时间扰动因子,解决了原人工势场法在航路规划中容易陷入势场局部最小值而导致无法用适感环境动态变化区域的问题.在此基础上,提出一种虚拟目标法以更有效地解决人工势场法遇到的局部极值陷阱问题.通过仿真验证表明:所提出的无人机在线航路规划方法比传统的人工势场法更容易跳出势场的局部最小值,且有较好的避障能力.