摘要
低空空域内航空器的运行空间狭窄,飞行状态复杂,容易造成冲突风险。基于改进的人工势场算法,建立了在支线机场附近低空空域内运行的大型固定翼无人机和通航固定翼有人机冲突解脱模型。将人工势场算法中的斥力分解为位置斥力和速度斥力以解决动态障碍物冲突解脱问题,将引力分解为位置引力和速度引力以解决目标航路点不可达问题,并加入阻尼系数解决轨迹振荡问题,以帮助无人机快速、稳定地进行冲突解脱,恢复原飞行路径。在此基础上,针对约束条件进行仿真试验。结果表明,改进的人工势场法可以得到平滑的飞行路径,能够实时、安全、高效地解决冲突解脱问题。
The operating space of aircraft in low-altitude airspace is narrow,and the flight status is complex,which is easy to cause conflict risks.In the future,the UAV will enter the fusion airspace,and the safe operation of drones in low-altitude airspace near aairportswill become a major problem for development.The movement of large fixed-wing UAVs is different from that of small rotary-wing UAVs.This paper makes a simple analysis of the kinematics model of fixed-wing UAVs.Based on the improved artificial potential field algorithm,a conflict resolution model for large fixed-wing UAVs and general aviation fixed-wing manned aircraft operating in low-altitude airspace near regional airports is established.To improve the stability and robustness of conflict resolution paths,potential field forces are improved.First,the repulsion is split into position repulsion and velocity repulsion.The position repulsion takes into account the relative position correlation between the UAV and the manned aircraft and increases the velocity repulsion to change the flight direction of the UAV.This method solves the problem of dynamic obstacle conflict release.Secondly,gravity is decomposed into position gravity and speed gravity,which aims to help the UAV recover the original flight path stably after the conflict is resolved.The position gravity ensures that the drone flies along the target on the planned path,while the velocity gravity keeps the speed of the drone at a stable level.In addition,a damping force is introduced to prevent the drone from oscillating along the planned path under the force of gravity.On this basis,the simulation test is carried out for the constraints,and the results show that the improved artificial potential field method is superior to the traditional artificial potential field method in terms of safety and real-time performance,which can obtain a smooth flight path,and can solve the problem of conflict resolution in real-time,safely,and efficiently.
作者
高扬
陈靖淞
郭钒
李高磊
GAO Yang;CHEN Jingsong;GUO Fan;LI Gaolei(College of Transportation Science and Engineer,Civil Aviation University of China,Tianjin 300300,China)
出处
《安全与环境学报》
CAS
CSCD
北大核心
2023年第9期3143-3149,共7页
Journal of Safety and Environment
基金
华东局项目(20200114010202)。
关键词
安全工程
无人机
有人机
人工势场法
冲突解脱
路径规划
safety engineering
Unmanned Aerial(UA)
manned aircraft
Artificial Potential Field algorithm(APF)
conflict resolution
path planning
