基于自适应分段势场法的多无人机航迹规划

doi:10.16182/j.issn1004731x.joss.21-0538

摘要/Abstract

摘要：

为解决传统人工势场法在无人机进行航迹规划应用中易陷入局部极值、目标不可达与规划航迹曲率过大等问题，在分层势场法基础上提出了目标点处附加的第二局部引力场和由目标引力场组成的引力集合的方法。该方法克服了目标不可达和易陷入局部极值的缺陷，且在原有分层势场法中引入分段函数，提高了航迹规划效率，缩短了航迹长度。仿真对比了传统人工势场算法、对比算法一、对比算法二、本文提出的基于附加引力场和复合引力场的势场算法以及自适应分段势场算法。结果表明：自适应分段势场算法具有较好的有效性和较强的鲁棒性。

关键词: 人工势场, 航迹规划, 多无人机, 复合引力场, 附加引力场

Abstract:

To solve the problems that the traditional artificial potential field method is prone to fall into the local extreme value, target unreachability and excessive curvature of the planned trajectory curvature in the application of UAV trajectory planning, on the basis of the layered potential field method, a method of adding a second local attractive field at the target point and an attractive set composed of the target attractive field is proposed. This method overcomes the defects of unreachable targets and easy falling into local extremes. In addition, a piecewise function is introduced into the original layered potential field method, which improves the efficiency of trajectory planning and shortens the length of the trajectory. The simulation compares the traditional artificial potential field algorithm, comparison algorithm one, comparison algorithm two, the potential field algorithm based on the additional attractive field and the compound attractive field proposed in this paper, and the adaptive segmented potential field algorithm. The results show that the adaptive segmented potential field algorithm has better effectiveness and strong robustness.

Key words: artificial potential field, trajectory planning, multi-UAV, compound attractive field, additional attractive field

中图分类号:

TP391.9

田广键, 代冀阳, 应进, 王宁. 基于自适应分段势场法的多无人机航迹规划[J]. 系统仿真学报, 2022, 34(11): 2368-2376.

Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang. Multi-UAV Trajectory Planning Based on Adaptive Segmented Potential Field Method[J]. Journal of System Simulation, 2022, 34(11): 2368-2376.

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障碍物	编号	具体位置
山峰	1	400, 200, 0
	2	200, 300, 0
	3	95, 300, 0
恶劣天气	1	0, 500, 0
雷达	1	300, 450, 0
	2	450, 400, 0
	3	340, 330, 0
	4	200, 180, 0
	5	450, 400, 0
导弹	1	200, 200, 80
	2	125, 125, 110
	3	300, 350, 90
	4	250, 250, 120
	5	200, 200, 75
	6	400, 350, 130

参数	数值	参数	数值
α	1.5	γ	10
β	0.1	ν_max	5
η	2.0	ε	4 300

无人机	目标
(30, 30, 110)	(450, 450, 110)
(15, 21.397 0, 85.505 1)	(435, 441.339 7, 85.505 1)
(30, 47.320 5, 85.505 1)	(450, 467.320 5, 85.505 1)
(45, 21.339 7, 85.505 1)	(465, 441.339 7, 85.550 1)

方法	时间/s	航线长度/km
附加引力场和复合引力场算法	65.994 2	669.822 5
		613.036 3
		608.454 3
		598.539 8
对比算法一	212.197 4	618.830 2
		626.496 9
		615.069 4
		614.523 5
对比算法二	63.579 6	618.339 2
		613.952 4
		608.770 0
		595.721 5
自适应分段势场算法	62.979 9	617.627 6
		610.596 3
		612.765 1
		610.057 4