火力与指挥控制2026，Vol.51Issue(7)：49-56,66,9.DOI:10.3969/j.issn.1002-0640.2026.07.008
基于改进人工势场法的无人机三维航迹规划
Three-dimensional Trajectory Planning of UAVs Based on Improved Artificial Potential Field Method
姜香菊 1郝栩锋1
作者信息
- 1. 兰州交通大学自动化与电气工程学院,兰州 730070
- 折叠
摘要
Abstract
To address the issues of target unreachability and local minima in traditional artificial potential field methods for UAVs,an improved artificial potential field method is proposed.The repulsive potential field function is optimized by incorporating angle and distance factors into the conventional model,thereby preventing target unreachability caused by excessive repulsive forces.To reduce redundant paths and mitigate local minima when passing through narrow obstacles,a narrow obstacle detection function and a repulsive force attenuation factor are introduced.Finally,simulation experiments conducted on the MATLAB platform validate the proposed algorithm.The results demonstrate significant improvements in resolving the aforementioned problems and enhancing overall algorithm performance.关键词
航迹规划/人工势场法/目标不可达/狭窄障碍物/检测函数Key words
trajectory planning/artificial potential field method/target unreachability/narrow ob-stacles/detection function分类
航空航天引用本文复制引用
姜香菊,郝栩锋..基于改进人工势场法的无人机三维航迹规划[J].火力与指挥控制,2026,51(7):49-56,66,9.
