基于改进人工势场法的无人机航迹规划

doi:10.12305/j.issn.1001-506X.2021.11.31

摘要/Abstract

摘要：

针对传统人工势场(traditional artificial potential field, TAPF)方法在无人机航迹规划时航迹摆动幅度较大且容易陷入局部极小值的问题, 提出了一种改进人工势场法。首先在TAPF方法的基础上, 引入角度与速度调节因子, 模拟更真实的无人机飞行轨迹; 然后再引入辅助避障力, 实现避障的同时平滑轨迹; 最后对改进航迹规划算法与TAPF方法进行仿真实验。结果表明, 相较于传统算法, 改进后的航迹规划算法在航迹平滑性上有显著提升, 并且有效地避开了局部最小值点。

关键词: 人工势场法, 轨迹规划, 局部规划, 物理约束, 航迹平滑

Abstract:

Traditional artificial potential field (TAPF) method has a large trajectory swing and falls into the local minimum point potentially. In order to solve this problem, an improved artificial potential field is proposed. Firstly, on the basis of TAPF method, the angle and speed adjustment factors are introduced to simulate a more realistic flight path of the unmanned aerial vehicle. Then, the auxiliary obstacle avoidance force is introduced to achieve obstacle avoidance while smoothing path. Finally, the simulation of the improved and TAPF method shows that the improved obstacle avoidance algorithm has a significant improvement in the smoothness of the trajectory compared with the traditional algorithm, and unmanned aerial vehicle avoids the local minimum and the local minimum point successfully.

Key words: artificial potential field (APF) method, path planning, local planning, physical constraints, smooth trajectory

中图分类号:

V249

韩尧, 李少华. 基于改进人工势场法的无人机航迹规划[J]. 系统工程与电子技术, 2021, 43(11): 3305-3311.

Yao HAN, Shaohua LI. UAV path planning based on improved artificial potential field[J]. Systems Engineering and Electronics, 2021, 43(11): 3305-3311.

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参数	值
起始点	(36, 36)
目标点	(2, 2)
引力系数K_a	5
斥力系数K_r	200
障碍物斥力范围d_o/m	2r_o
最小速度V_min/(m/s)	0.5
常规速度V_c/(m/s)	0.8
最大速度V_max/(m/s)	1
最大转向角Δθ_max/(°)	30
角度阈值θ₁/(°)	10
角度阈值θ₂/(°)	20

序号	最大转向角/(°)/轨迹长度/m/飞行时间/s
序号	TAPF	A-APF	IAPF
1	-356.18/124/155	-347.41/115.2/128	30/109.7/125
2	147.63/112.8/141	98.54/107.1/119	30/105.7/113
3	303.97/125.6/157	61.35/111.6/124	30/108.7/125
4	153.1/123.2/154	89.57/115.2/128	30/111.4/125
5	-297.73/114.4/143	-343.32/107.1/119	20.53/105.8/113
6	327.7/121.6/152	336.58/112.5/125	30/109.4/130
7	142.64/116/145	48.8/108/120	30/106.2/116

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