火力与指挥控制2024，Vol.49Issue(4)：177-184,8.DOI:10.3969/j.issn.1002-0640.2024.04.027
基于APF的局部路径规划算法研究
Study on Local Path Planning Based on APF Method
摘要
Abstract
Aiming at the problems of local optimization and path unsmoothness in the path planned by the traditional artificial potential field(APF),a control method led by the"touch guidance"strategy is proposed.In this method,in the process of UAV movement,a suitable staged sub-target point is introduced to guide the UAV flight,so as to reduce the probability of the planning results falling into the local extreme point,and Bezier curve method is used to process the control points so as to solve the path smoothing problem.The simulation results show that the improved algorithm can effectively solve the problems of easy falling into minimum points and unsmooth paths,it is more efficient than the traditional algorithm.关键词
人工势场法/无人机/局部路径规划/触碰引导/贝塞尔曲线Key words
APF/UAV/local path planning/touch guidance/bezier curve分类
航空航天引用本文复制引用
魏进武,范庆明,彭玉海,杨黄旭..基于APF的局部路径规划算法研究[J].火力与指挥控制,2024,49(4):177-184,8.基金项目
陕西省科学技术厅基金(2020KW-017) （2020KW-017）
西安工业大学研究生教育教学改革研究资助项目(XAGDYJ190106) （XAGDYJ190106）
