基于APF的局部路径规划算法研究OA北大核心CSTPCD

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.