Multi-UAV Trajectory Planning Based on Adaptive Segmented Potential Field Method

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

Abstract

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

CLC Number:

TP391.9

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