基于改进人工势场法的多无人机三维编队路径规划

doi:10.16182/j.issn1004731x.joss.18-0252

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (3): 414-420.doi: 10.16182/j.issn1004731x.joss.18-0252

基于改进人工势场法的多无人机三维编队路径规划

谌海云^1,2, 陈华胄², 刘强²

1. 西南石油大学,四川南充 637001;
2. 西南石油大学电气信息学院,四川成都 610500

收稿日期:2018-05-02 修回日期:2018-09-26 出版日期:2020-03-18 发布日期:2020-03-25
作者简介:谌海云(1967-),男,四川南充,硕士,教授,硕导,研究方向为先进自动控制理论;陈华胄(1994-),男,四川凉山,硕士生,研究方向为控制理论与控制工程、四旋翼无人机飞行控制。
基金资助:
南充市市校科技战略合作项目(NC17SY4011)

Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field

Chen Haiyun^1,2, Chen Huazhou², Liu Qiang²

1. Southwest Petroleum University, Nanchong 637001, China;
2. School of Electrical Engineering and Information, Southwest Petroleum University, Chengdu 610500, China

Received:2018-05-02 Revised:2018-09-26 Online:2020-03-18 Published:2020-03-25

摘要/Abstract

摘要： 针对传统人工势场法的障碍物附近目标不可达、存在局部极小点和振荡的问题对势场函数进行分析和改进,以保证目标点为势场的全局最小点。在动态势场中,引入是否陷入局部极小点的判断机制,并结合一种“沿目标方向90°移动”的方法来跳出局部极小点,实现多无人机编队的路径规划、协同避障和防碰撞。利用回归搜索法来对路径进一步优化。MATLAB的仿真结果显示,该方法有效地弥补了传统人工势场法的不足,提高了人工势场法的实用性。

关键词: 四旋翼无人机, 编队飞行, 人工势场法, 局部极小点, 路径优化

Abstract: Focusing on the GNRON (goal nonreachable with obstacles nearby), the local minima and chattering of the traditional artificial potential field method, the potential field functions are improved and analyzed to guarantee the goal is the global minimum. In the dynamic potential field, a mechanism of judging whether to fall into local minima is introduced, a method of “moving along the orientation of 90° of goal direction” is used to jump out of the local minima, and the path planning of multi-UAV formation, the synergistic obstacle avoidance and collision prevention are achieved. The path is optimized by applying the regression search method. Simulation results show that the drawbacks of the conventional artificial potential field are solved effectively, and the practicability of the artificial potential field is enhanced.

Key words: Quadrotor, Flight Formation, Artificial Potential Field, Local Minima, Path Optimization

中图分类号:

V249

谌海云, 陈华胄, 刘强. 基于改进人工势场法的多无人机三维编队路径规划[J]. 系统仿真学报, 2020, 32(3): 414-420.

Chen Haiyun, Chen Huazhou, Liu Qiang. Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field[J]. Journal of System Simulation, 2020, 32(3): 414-420.

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基于改进人工势场法的多无人机三维编队路径规划

Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field

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