基于自适应扩展势场的多无人机航迹规划仿真

doi:10.16182/j.issn1004731x.joss.20-0406

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (9): 2147-2156.doi: 10.16182/j.issn1004731x.joss.20-0406

基于自适应扩展势场的多无人机航迹规划仿真

王宁, 代冀阳, 应进, 李叶鼎, 鲁亮亮

南昌航空大学信息工程学院,江西南昌 330063

收稿日期:2020-06-24 修回日期:2020-08-06 出版日期:2021-09-18 发布日期:2021-09-17
作者简介:王宁(1994-)，男，硕士生，研究方向为智能控制技术。E-mail：15979103963@163.com
基金资助:
国家自然科学基金(61663032)

Multi-UAV Trajectory Planning Simulation Based on Adaptive Extended Potential Field

Wang Ning, Dai Jiyang, Ying Jin, Li Yeding, Lu Liangliang

School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China

Received:2020-06-24 Revised:2020-08-06 Online:2021-09-18 Published:2021-09-17

摘要/Abstract

摘要： 为解决传统人工势场法存在目标不可达、易陷入局部极小值、无法避障和缺少航迹优化策略等缺陷,而分层势场算法又存在分层越多规划速率越慢的问题。对无人机进行建模,在分层势场函数中分别引入引力影响因子和斥力影响因子解决目标不可达问题,引入“辅助力”解决易陷入局部极小值问题,提出自适应扩展势场算法对航迹进一步优化。通过对多无人机航迹规划进行数值仿真实验,结果表明该算法可以提高规划效率。

关键词: 多无人机, 航迹规划, 影响因子, 辅助力, 自适应扩展势场法

Abstract: To address the defects of the traditional artificial potential field method, such as unreachable targets, easy to fall into local minimums, inability to avoid obstacles, and lack of trajectory optimization strategies, and to solve the problem of slow planning rate due to more layers in the layered potential field algorithm, the model of the UAV is established, in which the influence factor of the attractive and repulsive force is introduced into the layered potential field function to solve the problem of unreachable targets, and the " auxiliary force" is introduced to solve the problem of easily falling into local minimums. An adaptive extended potential field algorithm is proposed to further optimize the track. The results show that the algorithm can improve the planning efficiency through numerical simulation experiments on multi-UAV trajectory planning.

Key words: multi-UAV, track planning, impact factor, auxiliary force, adaptive extended potential field method

中图分类号:

TP391.9

王宁, 代冀阳, 应进, 李叶鼎, 鲁亮亮. 基于自适应扩展势场的多无人机航迹规划仿真[J]. 系统仿真学报, 2021, 33(9): 2147-2156.

Wang Ning, Dai Jiyang, Ying Jin, Li Yeding, Lu Liangliang. Multi-UAV Trajectory Planning Simulation Based on Adaptive Extended Potential Field[J]. Journal of System Simulation, 2021, 33(9): 2147-2156.

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基于自适应扩展势场的多无人机航迹规划仿真

Multi-UAV Trajectory Planning Simulation Based on Adaptive Extended Potential Field

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