北京航空航天大学学报

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基于拟态电势能的飞行器航路规划方法研究

何仁珂   

  1. 空军工程大学航空航天工程学院研二队
  • 收稿日期:2015-06-29 修回日期:2015-10-09 发布日期:2015-10-30
  • 通讯作者: 何仁珂
  • 基金资助:
    中国航空科学基金

Artificial electric potential energy path planning method

  • Received:2015-06-29 Revised:2015-10-09 Published:2015-10-30

摘要: 航路规划是现代各类飞行器,特别是无人飞行器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。本文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: 飞行器, 航路规划, 拟态电势能, 概率选择, 航路安全性

Abstract: Path planning is the key to modern aircraft, especially unmanned aerial vehicles to flight safely and complete mission. For the complex threat environment and high dimensional space,the traditional path planning methods have some limitations in the aspects of the calculation speed,path security and applicability.Inspired by the electric field power to do mechanical work and electric potential field distribution characteristics,we simulate potential field theory of the flight environment, establish the probability choice mechanism of path planning based on simulations of the potential energy potential, and the safety evaluation standard is established. On this basis, we construct the potential field inspired sampling-based random path planning method. By comparing the results of the simulation with the traditional path planning methods, the algorithm we proposed can significantly shorten the path length and computational time, and improves the security path. It has certain value for path planning.

Key words: aerial vehicle, path planning, artificial electric potential energy, probability choice, path security


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