引用本文:代冀阳,王村松,殷林飞,杨保建,熊俊强.飞行器分层势场路径规划算法[J].控制理论与应用,2015,32(11):1505~1510.[点击复制]
DAI Ji-yang,WANG Cun-song,YIN Lin-fei,YANG Bao-jian,XIONG Jun-qiang.Hierarchical potential field algorithm of path planning for aircraft[J].Control Theory and Technology,2015,32(11):1505~1510.[点击复制]
飞行器分层势场路径规划算法
Hierarchical potential field algorithm of path planning for aircraft
摘要点击 3026  全文点击 1325  投稿时间：2015-05-21  修订日期：2015-11-23
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DOI编号  10.7641/CTA.2015.50428
  2015,32(11):1505-1510
中文关键词  路径规划  飞行器  势场函数  回环力  分层势场法
英文关键词  path planning  aircraft  potential function  rotational force  hierarchical potential field algorithm
基金项目  国家自然科学基金项目(61164015, 61305132), 江西省自然科学基金项目(20151BAB207043), 江西省研究生创新基金项目(YC2014-S393)资助.
作者单位邮编
代冀阳 南昌航空大学 330063
王村松* 南昌航空大学 330063
殷林飞 南昌航空大学 
杨保建 南昌航空大学 
熊俊强 南昌航空大学 
中文摘要
      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.
英文摘要
      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.