一种改进的动力学约束人工势场法

韩知玖, 吴文江, 李孝伟, 张丹, 李春欣

doi:10.12066/j.issn.1007-2861.2179

上海大学学报(自然科学版) >

2019 , Vol. 25 >Issue 6: 879 - 887

DOI: https://doi.org/10.12066/j.issn.1007-2861.2179

研究论文

一种改进的动力学约束人工势场法

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1. 上海大学上海市应用数学和力学研究所, 上海 200072
2. 中国舰船研究设计中心, 武汉 430064
3. 上海大学机电工程与自动化学院, 上海 200444
4. 上海大学计算机工程与科学学院, 上海 200444

收稿日期: 2019-07-02

网络出版日期: 2019-12-31

基金资助

国家自然科学基金面上资助项目(10006719);国家自然科学基金面上资助项目(61973208);上海市科委基础研究计划资助项目(16JC1400900)

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An improved artificial potential field method constrained by a dynamic model

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1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai 200072, China
2. China Ship Development and Design Center, Wuhan 430064, China
3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
4. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

Received date: 2019-07-02

Online published: 2019-12-31

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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.

关键词： 无人机; 路径规划; 人工势场; 虚拟力; 局部极小值

本文引用格式

韩知玖, 吴文江, 李孝伟, 张丹, 李春欣 . 一种改进的动力学约束人工势场法[J]. 上海大学学报(自然科学版), 2019 , 25(6) : 879 -887 . DOI: 10.12066/j.issn.1007-2861.2179

Abstract

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.

Key words： unmanned aerial vehicle (UAV); path planning; artificial potential field; virtual force; local minimum

参考文献

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