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