摘要
传统的人工势场(artificial potential field, APF)路径规划算法存在局部极小值.通过引入虚拟力,提出了一种改进的人工势场算法,该算法可在考虑控制对象动力运动约束条件下,实现快速跳出局部极值的效果.以固定翼无人机为例,基于其动力学特性分析,在改进人工势场法中增加了最小转弯角度的限制,并通过仿真实现了可兼顾路径的距离短、平滑和安全性的最优规划.
It has been claimed that local minima are an inherent problem of the traditional artificial potential field(APF) algorithm, which is employed for unmanned aerial vehicle(UAV) path planning. An improved APF algorithm is proposed. By introducing a swerving force, a quick escape from the local minimum can be achieved. After analyzing the dynamic characteristics of a UAV, an angular constraint was introduced to improve the APF method.Through simulations, it is verified that the improved algorithm considers the short distance,smoothness, and safety of the path. Therefore, it is more suitable for the path planning of fixed-wing UAVs.
作者
韩知玖
吴文江
李孝伟
张丹
李春欣
HAN Zhijiu;WU Wenjiang;LI Xiaowei;ZHANG Dan;LI Chunxin(Shanghai Institute of Applied Mathematics and Mechanics,Shanghai University,Shanghai 200072,China;China Ship Development and Design Center,Wuhan 430064,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;School of Computer Engineering and Science,Shanghai University,Shanghai 200444,China)
出处
《上海大学学报（自然科学版）》
CAS
CSCD
北大核心
2019年第6期879-887,共9页
Journal of Shanghai University:Natural Science Edition
基金
国家自然科学基金面上资助项目(10006719,61973208)
上海市科委基础研究计划资助项目(16JC1400900)
关键词
无人机
路径规划
人工势场
虚拟力
局部极小值
unmanned aerial vehicle(UAV)
path planning
artificial potential field
virtual force
local minimum
