多无人机航路重规划方法

Real-time path replanning algorithm for unmanned aerial vehicles in threatening environment

提出了一种基于改进人工势场法的无人机航路重规划算法。在航路重规划中,设置多个节点,将无人机的航路分段,并重新构造斥力函数,无人机在突发威胁的边界调整航路,实时规划出避开突发威胁的可飞航路;仿真结果表明,该算法能够较好地满足航路规划的要求。

Using the modified potential field theory, the author presented a real-time path planning algorithm for Unmanned Aerial Vehicles （ UAV）. The path was divided into subsections by some nodes in the course of flying, and then a new repulsive function was constructed by new flight environment. Simulation results indicate that this algorithm can satisfy the route plan well.