航空工程进展2025，Vol.16Issue(2)：23-30,8.DOI:10.16615/j.cnki.1674-8190.2025.02.03
基于改进虚拟弹簧模型的无人机路径规划算法研究
Research on UAV path planning algorithm based on improved virtual spring method
摘要
Abstract
Aiming at the path planning problem of unmanned aerial vehicle(UAV)and the problems of target un-reachability and easy oscillation of narrow channels in the path planning process of the virtual spring model(VSM),a UAV path planning algorithm that can improve the virtual spring method is proposed.Firstly,the repul-sive force formula between the UAV and the obstacle and the traction formula between the UAV and the target point are established to complete the local path planning of the UAV.Secondly,the concept of boundary force is in-troduced into the virtual spring method to solve the problems of easy oscillation and target unreachability in the nar-row channel of UAV.Finally,the effectiveness of the proposed method is verified in combination with simulation experiments.The results show that,compared with the traditional virtual spring model and the improved virtual spring model,the proposed UAV path planning algorithm can form a smoother path for UAV path planning in the narrow channel environment,and enable the UAV to reach the target point smoothly when the target is not reach-able,which is able to plan UAV paths in a relatively complex environment.关键词
路径规划/无人机/虚拟弹簧模型/边界力/目标不可达性/狭窄通道Key words
path planning/unmanned aerial vehicle/virtual spring model/boundary force/target unreachability/narrow channel引用本文复制引用
肖蘅,张汇,周文,穆震杰..基于改进虚拟弹簧模型的无人机路径规划算法研究[J].航空工程进展,2025,16(2):23-30,8.基金项目
云南省自然科学基金面上项目(202201AT070080) （202201AT070080）
