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Route planning method based on potential field method

A technology of track planning and potential field, which is applied in three-dimensional position/track control and other directions, and can solve problems such as the inability to adjust the track

Inactive Publication Date: 2014-11-19
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0009] The embodiment of the present application provides a track planning method based on the potential field method, which solves the technical problem that the aircraft track planning in the prior art cannot adjust the track in real time, and then realizes the real-time planning of the track. technical effect

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Embodiment Construction

[0041] The embodiment of the present application provides a track planning method based on the potential field method, which solves the technical problem that the aircraft track planning in the prior art cannot adjust the track in real time, and then realizes the real-time planning of the track. technical effect.

[0042] The technical solution in the embodiment of this application is to solve the technical problem that the above-mentioned aircraft track planning cannot adjust the track in real time, and the general idea is as follows:

[0043] First, the aircraft obtains the characteristic information of obstacles in the determined geographical environment abstractly according to the determined geographical environment in the process from the flight starting point to the destination; then, according to the obtained characteristic information, the potential field method is used to obtain the distance between the aircraft and the destination. The resultant force; finally, accor...

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Abstract

The invention discloses a route planning method based on a potential field method. The route planning method based on the potential field method is characterized by including the steps that according to the geographical environment determined from the flight starting point to the terminal point of an aircraft, feature information of barriers in the determined geographical environment is obtained abstractly and stored; resultant force of the aircraft and the terminal point is obtained by the adoption of the potential field method on the basis of the feature information; a current position is controlled to be updated on the basis of the resultant force. The technical problem that a route in aircraft route planning can not be adjusted in real time in the prior art is solved, and the technical effect of planning the route in real time is achieved.

Description

technical field [0001] The invention relates to the technical field of UAV track planning, in particular to a track planning method based on a potential field method. Background technique [0002] The trajectory planning of the aircraft refers to planning the best path according to various factors such as the specific mission of the aircraft flight, threat volume, weather conditions, air position and terrain data under the constraint conditions. , which needs to meet two indicators: one is to require the amount of various threats to be as small as possible during the planning process, and the other is to require the path to be as short as possible. [0003] According to different mission performance indicators, the aircraft trajectory planning algorithm also has different requirements. In the process of aircraft trajectory planning, it is necessary to consider the influence of various factors on the aircraft during the flight process. Under the condition of mutual coupling ...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 葛树志王刚王维周红坤钱杰周超姜龙龙
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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