摘要：

针对人工势场法在进行无人机航迹规划时易陷入局部最优、在狭窄通道中存在抖动现象等问题,提出一种基于碰撞锥改进势场法的无人机避障路径规划算法。利用碰撞锥碰撞检测条件设计障碍物斥力势场判定系数,以排除由无关障碍物势场产生的不利影响。根据障碍物类 型威胁度和无人机与障碍物间相对状态威胁度,设计模糊斥力增益调节系数来解决人工势场易陷入局部最优的问题。同时,为防止势场变化和通过狭窄通道时引发的抖动现象,设计抖动抑制调节系数并给出抖动情况下的航迹点规划方法。在此基础上,基于碰撞锥改进人工势 场函数设计一种无人机避障路径规划算法。实验结果表明,相对人工势场避障算法,该算法能够解决算法易陷入局部最优和存在的抖动问题,且在规避动态障碍物时取得了较好效果。

关键词: 人工势场, 碰撞锥, 复杂动态环境, 无人机, 避障

Abstract:

In order to solve the problem that the artificial potential field method for Unmanned Aerial Vehicle (UAV) flight path planning is easy to fall into the local optimal and jitter in the narrow channel,a path planning algorithm based on potential field method improved by collision cone is proposed.Firstly,the determination coefficient of the repulsive potential field of the obstacle is designed by using the collision detection conditions of the collision cone,and the possible adverse effects of the unrelated obstacle potential field are excluded.Then,according to the threat degree of obstacle type and the relative state threat degree of UAV and obstacle,the fuzzy repulsion gain adjustment coefficient is designed to solve the problem that the artificial potential field tends to fall into the local optimal.In addition,in order to prevent the jitter problems caused by changing of potential field and passing through the narrow channel between the obstacles,the jitter adjustment coefficient is also designed and the track point planning method under jitter condition is given.Finally,the obstacle avoidance path planning algorithm for UAV is designed based on the improved artificial potential field function of collision cone.Experimental results show that,compared with the artificial potential field obstacle avoidance algorithm,the proposed algorithm can solve the problem of local optimal and jitter,and it has achieved good results in avoiding dynamic obstacles.

Key words: artificial potential field, collision cone, complex dynamic environment, Unmanned Aerial Vehicle(UAV), obstacle avoidance

中图分类号: 

• TP279