基于改进人工势场的无人飞行器三维路径规划

Three-Dimensional Path Planning of UAV Based on Improved Artificial Potential Field

为了在森林火灾中为无人飞行器(UAV)寻找安全路径,提出了一种基于改进的人工势场(APF)的全局路径规划方法。该方法采用网格模型对三维空间中的威胁进行建模,然后以目标为引力源建立引力场,以威胁为斥力源建立斥力场。同时,改进了引力场和斥力场的建模,克服了传统人工势场的缺点;再配合动态避障,无人机就能快速躲避动态障碍物的威胁。仿真结果证明,该方法能在给定环境下获得最优路线。

In order to find a safe path for Unmanned Aerial Vehicle(UAV)in forest fires,a global path planning method based on improved artificial potential field(APF)is proposed.This method applies the grid model to model threats in threedimensional space;then uses the target as the source of gravity to establish a gravitational field,and the threat as the source of repulsion to establish a repulsive field.At the same time,it improves the modeling of gravitational and repulsive fields to overcome the disadvantages of the traditional artificial potential field;then with dynamic obstacle avoidance,the UAV can quickly escape the threat of dynamic obstacles.Simulation results prove that this method can get the optimal route in a given environment.