一种改进的动力学约束人工势场法

doi:10.12066/j.issn.1007-2861.2179

Journal of Shanghai University（Natural Science Edition） ›› 2019, Vol. 25 ›› Issue (6): 879-887.doi: 10.12066/j.issn.1007-2861.2179

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An improved artificial potential field method constrained by a dynamic model

Zhijiu HAN¹, Wenjiang WU², Xiaowei LI³(), Dan ZHANG³, Chunxin LI⁴

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:2019-07-02 Online:2019-12-30 Published:2019-12-31
Contact: Xiaowei LI E-mail:xwli@staff.shu.edu.cn

Abstract

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

CLC Number:

V249
V279

Zhijiu HAN, Wenjiang WU, Xiaowei LI, Dan ZHANG, Chunxin LI. An improved artificial potential field method constrained by a dynamic model[J]. Journal of Shanghai University（Natural Science Edition）, 2019, 25(6): 879-887.

Figures/Tables 8

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References 14

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An improved artificial potential field method constrained by a dynamic model

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