基于改进人工势场法的无人直升机三维航迹规划

Three-dimensional path planning of unmanned helicopter based on improved artificial potential field method

针对民用直升机的复杂贴地环境,开展了预设障碍物环境结合无人直升机飞行性能包线约束的航迹规划研究。首先,基于障碍物建模方法设计了航迹规划算法,解决了传统人工势场法较难适用于三维环境下无人直升机航迹规划的诸多问题,提出了一种改进的人工势场算法并扩展至三维空间。然后,针对三维环境中的目标不可达问题,建立了一种基于相对距离判断的斥力势场函数方法;针对局部极小值问题,发展了一种基于无人直升机飞行性能约束的航迹点回溯法以逃离出局部极小值区域的方法。最后,通过仿真验证分析了该算法的有效性。仿真结果表明:改进的人工势场法能够有效克服传统人工势场法的不足,实现无人直升机在飞行性能包线约束下的三维航迹规划。

Aiming at the complex ground sticking environment of civil helicopter, the path planning based on preset obstacle environment and unmanned helicopter flight performance envelope constrains was studied. Firstly, the path planning algorithm was designed based on obstacle method, which solved many problems that the traditional artificial potential field method was difficult to apply to the path planning problems of unmanned helicopter in three-dimensional environment, put forward an improved artificial potential field algorithm and extended to three-dimensional space. Then, aiming at the problem of unreachable target in three-dimensional environment, a repulsive potential field function method based on relative distance judgment was established. Aiming at the local minimum problem, a track point backtracking method based on unmanned helicopter flight performance constraints was developed to escape from the local minimum region. Finally, the effectiveness of the algorithm was analyzed by simulation. The simulation results show that the improved artificial potential field method can effectively overcome the shortcomings of the traditional artificial potential field method, and can realize the three-dimensional flight path planning of the unmanned helicopter under the flight performance constraints.