基于改进人工势场法的四旋翼无人机航迹规划算法

Four-rotor UAV track planning algorithm based on improved artificial potential field method

利用传统的人工势场法进行四旋翼无人机的航迹规划时,存在易陷入局部最小解的问题,从而使得四旋翼无人机不能按照预期要求到达目标位置,为了解决此问题,提出了一种改进的人工势场法。首先,在斥力势场函数中加入了航迹点和目标点之间的距离,同时引入了协调力,解决了传统人工势场法的极小值问题;其次,在三种U型槽障碍物环境中进行了所提算法的验证;最后,在相同的障碍物环境下与蚁群算法进行了规划的航迹对比。仿真结果证明了改进算法的有效性和优越性。

When using traditional artificial potential field(APF)method to plan flight path of four-rotor UAV,there is a problem that it is easy to fall into local minimum solution,and will lead the four-rotor UAV can’t reach the target location according to expected requirements.To solve this problem,an improved artificial potential field method is proposed.Firstly,by adding the distance between the track point and the target point into the repulsive potential field function,at the same time,the coordination force is introduced,to solve the minimum value problem of traditional artificial potential field method.Secondly,the proposed algorithm is verified in three kinds of U-shaped slot obstacle environment.Lastly,in the same obstacle environment,the planned track is compared with the ant colony algorithm.The simulation results prove the effectiveness and superiority of the improved algorithm.