沈阳航空航天大学学报2026，Vol.43Issue(4)：57-63,7.DOI:10.3969/j.issn.2095-1248.2026.04.006
基于改进人工势场法的低空无人机动态路径规划算法
Dynamic path planning algorithm for low-altitude UAVs based on improved artificial potential field method
摘要
Abstract
Aiming at the problems of local optimum and target unreachability existing in low-altitude UAV path planning under complex obstacle environments,an improved artificial potential field(APF)algorithm was proposed for dynamic path planning of low-altitude UAVs.The proposed algorithm featured three key enhancements:first,the repulsive potential field function was optimized through dynamic adjustment of repulsive intensity based on obstacle distances,effectively resolving target inaccessibility.Second,the gravitational potential field function was refined with dynamic weight allocation to prevent local optima entrapment.Finally,a smooth optimization strategy for resultant vectors was introduced to enhance planning stability and dynamic adaptability.Experimental results demonstrate that compared with the standard APF algorithm,the improved method successfully overcomes both local optima and target inaccessibility issues in complex obstacle environments.This research provides valuable insights for dynamic path planning of low-altitude aerial vehicles.关键词
低空无人机/路径规划/人工势场法/局部最优解/目标不可达Key words
low-altitude UAV/path planning/artificial potential field method/local optima/target unreachability分类
航空航天引用本文复制引用
王尔申,赵迪,徐嵩,纪贵鹏,徐浩龙,杨健..基于改进人工势场法的低空无人机动态路径规划算法[J].沈阳航空航天大学学报,2026,43(4):57-63,7.基金项目
国家自然科学基金(项目编号:62173237). （项目编号:62173237）
