基于环流斥力势场的改进APF导弹航路规划

Improved APF missile route planning based on circulation repulsion potential field

为解决人工势场(artificial potential field,APF)方法容易陷入局部最小值的问题,提出基于环流斥力势场的改进APF航路规划方法(改进APF方法),改变斥力势场方向使其变成围绕障碍物的环流,并结合导弹由航路点控制的特点,进一步由约束法和切线法得到导弹飞行航路点。在不同场景下分别采用传统APF方法与改进APF方法进行航路规划求解,以及使用切线法和约束法进行导弹航路点求解。结果表明:改进APF方法有效提高可解概率,能够在多边形障碍密集、障碍边界与导弹航向垂直的情况下得到航路。同时,相比传统APF方法,改进APF方法生成的航路较平滑。对于导弹航路点求解,切线法和约束法所得到的导弹航路航程相差不大,但约束法的解算时间较短且生成航点数量较少,而切线法的安全性能较好。

Given the proneness of artificial potential field(APF)method to fall into the local minimum,an improved APF route planning based on circulation repulsion potential field(improved APF)method was proposed.This method changed the direction of repulsion potential field into a circulation around the obstacle.The waypoints of missile flight were obtained by constraint method and tangent method.In different scenarios,traditional APF method and improved APF method were used to solve route planning,and the tangent method and constraint method were adopted to solve the missile route point.The results showed that the improved APF method can effectively improve solvable probability,the route can be obtained under the condition of dense polygonal obstacles,and the obstacle boundary ran perpendicular to platform course.At the same time,the route generated by the improved APF method was smoother than traditional APF method.For the missile waypoint solution,there was little difference between the tangent method and the constraint method,but the constraint method had a shorter solution time and fewer waypoints,while the tangent method had better safety performance.