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传统势场法是飞行器路径规划的一种常用方法,但是存在目标不可达、易收敛到局部极小值和无评价机制等问题.本文针对这些问题提出了一种飞行器路径规划的分层势场算法.利用分段思想对势场函数进行修正,解决了目标不可达问题.引入回环力和飞行器间作用力,解决了易收敛到局部极小值问题和飞行器间的碰撞问题.采用分层方法,建立了多层次多方位路径点阵,并以此计算最优路径点,从而引入了势场法的评价机制.通过数值仿真,对在复杂障碍环境中的飞行器路径规划进行了传统势场法、改进势场法和分层势场法的对比研究.仿真结果验证了所提出的分层势场算法的有效性和可行性.
The traditional potential field method is a common method for aircraft path planning, but there are some problems such as unreachable target, easy convergence to local minimum and non-evaluation mechanism.In this paper, a layered potential field of aircraft path planning Algorithm is used to correct the potential field function and solve the problem of unreachable target.It introduces the loop-back force and the inter-aircraft force to solve the problem of easy convergence to the local minimum and the collision between the aircraft.Using the method of stratification , A multi-level and multi-directional path lattice is established and the optimal path point is calculated, so the evaluation mechanism of potential field method is introduced.Through numerical simulation, the traditional potential field method , The improved potential field method and the stratified potential field method are compared and studied.The simulation results verify the effectiveness and feasibility of the proposed stratified potential field method.