基于人工势场的旋翼飞行器航迹规划方法

摘要

Artificial potential field is one of the methods applied in Robot Path Planning.On the question that the traditional algorithm of path planning based on artificial potential field does not consider the kinetic characteristic of the rotorcraft,in the article,based on the preliminary planning track, we formulate an improved method called secondary gravitational potential field method.It enables the rotorcraft to follow the feasible trajectory by keeping choosing the given points as the gravitational source.The results of the Matlab prove that the method is effective.%人工势场法是局部路径规划常用的一种方法.针对基于人工势场的传统路径规划算法没有充分考虑旋翼飞行器运动特性的问题,通过改进人工势场法提出了一种飞行器侧向机动轨迹设计方法--二次引力势场法.该方法以预规划航迹为约束,通过动态选定给定航迹点 作为引力源引导飞行器以一定速度跟踪给定的航迹以完成任务.仿真结果表明在考虑旋翼飞行器自 身特性约束的情况下,提出的方案可以有效地完成航迹规划任务.