山东理工大学学报：自然科学版2012，Vol.26Issue(4)：72-75,4.
基于改进势场法和B样条曲线的无人直升机电力巡线航路规划
Path planning for unmanned air vehicles based on B-spline curve and new potential-field algorithm
李文进 1高洪雨 1韩晓萍2
作者信息
- 1. 国网技术学院,山东泰安271000
- 2. 山东大学电气工程学院,山东济南250061
- 折叠
摘要
Abstract
In this paper, the path-planning problem for unmanned air vehicles was considered. We introduced a new potential function for path planning that has the remarkable feature based on B-Spline curve and new potential-field algorithm. We proved that the gradient vector of the potential could be used to search the path for unmanned air vehicles. Then we used B-Spline curve to revise and smooth the searching path. This new method makes great progress in moving amongst stationary obstacles situations.关键词
航路规划/人工势场/样条/可行路径搜索Key words
path planning/new potential-field/B-spline curve/searching in the feasible region.分类
航空航天引用本文复制引用
李文进,高洪雨,韩晓萍..基于改进势场法和B样条曲线的无人直升机电力巡线航路规划[J].山东理工大学学报：自然科学版,2012,26(4):72-75,4.
