北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (7): 1543-1549.doi: 10.13700/j.bh.1001-5965.2015.0430

• 论文 • 上一篇    下一篇

基于拟态电势能的飞行器航路规划方法

何仁珂, 魏瑞轩, 张启瑞, 许卓凡   

  1. 空军工程大学 航空航天工程学院, 西安 710038
  • 收稿日期:2015-06-29 出版日期:2016-07-20 发布日期:2016-07-29
  • 通讯作者: 魏瑞轩,Tel.: 029-84787729 E-mail: rxwei369@soho.com E-mail:rxwei369@soho.com
  • 作者简介:何仁珂 男,硕士研究生。主要研究方向:导航制导与控制。Tel:18700991460 E-mail: lnzrds@163.com;魏瑞轩 男,博士,教授。主要研究方向:导航制导与控制。Tel.:029-84787729 E-mail: rxwei369@soho.com
  • 基金资助:
    航空科学基金(20135896027)

Mimetism electric potential energy motion planning algorithm for aircraft

HE Renke, WEI Ruixuan, ZHANG Qirui, XU Zhuofan   

  1. Institute of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xi'an 710038, China
  • Received:2015-06-29 Online:2016-07-20 Published:2016-07-29

摘要: 航路规划是现代各类飞行器,特别是无人机(UAV)安全飞行和完成任务的关键要素。对于复杂威胁环境和高维空间的航路规划问题,传统规划方法在规划速度、航路安全性、算法适用性等方面存在一定的应用局限。分析了电荷在电场中移动引起电势能变化的特点规律及电势场分布特性,模拟电势场理论对飞行环境进行威胁建模,建立基于电势威胁场引导的航路节点概率选择机制及安全性评价准则。在此基础上,构建基于拟态电势能的随机采点扩展式航路规划方法。通过与传统航路规划方法的对比仿真实验表明,运用拟态电势能进行航路规划,能够显著缩短路径长度和计算时间,提高规划航路的安全性,对于航路规划的应用很有价值。

关键词: 无人机(UAV), 航路规划, 拟态电势能, 概率选择, 航路安全性

Abstract: Path planning can ensure that the unmanned aerial vehicle (UAV) flies safely and completes mission successfully. In the complex threat environment and high-dimensional space, traditional path planning methods have some limitations in the aspects of the calculation speed, path security and applicability. In order to solve these problems, the electric potential field distribution characteristics and the law of mechanical work driven by electric field force were studied. The mimetism electric potential energy path planning method was proposed, and the environment model based on the electric potential field distribution and path node probability choice mechanism were established. The relationship between threat intensity and distance was described by using electric potential. Combined with electric potential, the path safety evaluation standard was proposed. On this basis, the potential field based sampling-based random path planning method was proposed. The results show that, compared with traditional methods, the method mentioned above can generate optimal path in consideration of non-holonomic differential constraints, significantly shorten the path length and computational time, and improve the path security, which is of great value for application of path planning.

Key words: unmanned aerial vehicle (UAV), path planning, mimetism electric potential energy, probability choice, path security

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