航空工程进展2024，Vol.15Issue(4)：39-49,63,12.DOI:10.16615/j.cnki.1674-8190.2024.04.05
矢量场路径规划算法及其仿真验证
Path planning algorithm and its simulation validation based on vector field
摘要
Abstract
The methods of waypoint setting and point curve fitting which are not complex was usually adopted in the path planning of UAV,and the expected heading angle is given in segments.The expected heading angle does not automatically modified with changes in the route.The ability to automatically and quickly generate the expected heading and position is lacking.A vector field algorithm suitable for complex flight mission path planning is studied,and a simulation verification system to verify the effectiveness of its algorithm is developed in this paper.The con-cept of vector field is introduced in order to design a heading angle guidance law.An aircraft at any position can smoothly fly to the desired target path along the desired heading angle,and then complete the flight task along the desired target path.The implicit function equation is used to establish the desired path vector field,and the principle and method of path planning based on vector field are geometrically analyzed.According to the Lyapunov stability theory,the boundedness of the planned path error is proved.The distance error and the heading angle error can be stably converged to 0 with the help of the heading guidance law.Taking the path planning of the altitude hold mis-sion for a quad tiltrotor UAV as an example,the desired path of smooth flight is planned using the vector field method and the piecewise transition strategy.The verification is conducted and some simulation results are given,which show that the vector field path planning algorithm is feasible and effective for the mission flight planning of an aircraft.关键词
矢量场/路径规划/隐函数方程/李雅普诺夫稳定性/分段过渡策略/可视化仿真Key words
vector field/path planning/implicit function equation/Lyapunov stability/piecewise transition strate-gy/visual simulation分类
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姜楠,徐锦法..矢量场路径规划算法及其仿真验证[J].航空工程进展,2024,15(4):39-49,63,12.基金项目
江苏高校优势学科建设工程资助项目 （）
直升机旋翼动力学国家级重点实验室基金(61422202204,9140C400504130C4148) （61422202204,9140C400504130C4148）
