河北科技大学学报2017，Vol.38Issue(3)：278-284,7.DOI:10.7535/hbkd.2017yx03010
一种基于人工势场的无人机航迹规划算法
An improved route planning algorithm for unmanned aerial vehicle based on artificial potential field
摘要
Abstract
In order to improve the precision and accuracy of artificial potential field, and avoid the situation of hovering on the end point and being caught in minimum value, a path planning algorithm based on artificial potential algorithm for unmanned aerial vehicle is presented.The traditional artificial potential field method is improved: chaos theory is used to improve artificial potential field calculation formula, which changes the potential field coefficients of each barrier and target point, resulting in the best screened out route.The simulation experimental analysis and result show that the optimized algorithm considers the influence of obstacles to the optimization process, ruling out the situation of hovering on the end point in unmanned aerial vehicle route planning, and through iterative method, the algorithm has the ability to adapt to different maps.The improved artificial potential field method is better than the traditional artificial potential field method in speed and precision aspects.关键词
机器人控制/无人机/人工势场法/航迹规划/混沌理论Key words
robot control/unmanned aerial vehicle/artificial potential field method/route planning/chaos theory分类
信息技术与安全科学引用本文复制引用
甄然,甄士博,吴学礼..一种基于人工势场的无人机航迹规划算法[J].河北科技大学学报,2017,38(3):278-284,7.基金项目
河北省自然科学基金(F2015208128,F2014208119) （F2015208128,F2014208119）
河北省教育厅青年基金(QN20140157,BJ2016020) （QN20140157,BJ2016020）
