飞行器分层势场路径规划算法

Hierarchical potential field algorithm of path planning for aircraft

传统势场法是飞行器路径规划的一种常用方法,但是存在目标不可达、易收敛到局部极小值和无评价机制等问题.本文针对这些问题提出了一种飞行器路径规划的分层势场算法.利用分段思想对势场函数进行修正,解决了目标不可达问题.引入回环力和飞行器间作用力,解决了易收敛到局部极小值问题和飞行器间的碰撞问题.采用分层方法,建立了多层次多方位路径点阵,并以此计算最优路径点,从而引入了势场法的评价机制.通过数值仿真,对在复杂障碍环境中的飞行器路径规划进行了传统势场法、改进势场法和分层势场法的对比研究.仿真结果验证了所提出的分层势场算法的有效性和可行性.

Traditional potential field algorithm is a common method of path planning for aircraft; however, it is not applicable to cases like goal non-reach with obstacle nearby（GNRON）, local minimum, no evaluation mechanism, etc.A hierarchical potential field algorithm of path planning for aircraft is proposed to deal with the above problems. In this algorithm, traditional potential function is modified with the segmented idea to solve the problem of GNRON. Rotational force and forces between aircraft are introduced to solve the problems of local minimum and aircraft collision. Multilevel and multidirectional path lattice are established using hierarchical method and the optimal path point is calculated. Thus,the evaluation mechanism of potential field method is introduced. Finally, through numerical simulations, the traditional potential field method, the improved potential field method and the hierarchical potential field method are compared in the complex obstacle environment. Simulation results show that the proposed hierarchical potential field method is effective and feasible.