Unmanned aerial vehicle path planning method based on artificial potential field method and annealing algorithm

A technology of artificial potential field method and annealing algorithm, which is applied in the direction of vehicle position/route/height control, non-electric variable control, instruments, etc., to improve the anti-interference ability and solve the effect of local minimum

Pending Publication Date: 2022-02-08
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0004] Purpose of the invention: The purpose of the present invention is to provide a method based on the artificial potential field method and annealing algorithm that can improve the local minimum problem existing in the artificial potential field algorithm, and strengthen the flight stability of the UAV under external influences. UAV path planning method

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  • Unmanned aerial vehicle path planning method based on artificial potential field method and annealing algorithm
  • Unmanned aerial vehicle path planning method based on artificial potential field method and annealing algorithm
  • Unmanned aerial vehicle path planning method based on artificial potential field method and annealing algorithm

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[0039] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0040] The described UAV path planning method based on artificial potential field method and annealing algorithm comprises the following steps:

[0041] (1) Set parameters such as starting point, key point, obstacle, position, etc.;

[0042] (2) The UAV is regarded as a point, which moves in the virtual field formed by superimposing the gravitational field of the target point on the UAV and the repulsion field caused by obstacles to the UAV. The direction is the direction in which the potential field function descends, and the mathematical model is:

[0043] U(q)=U att (q)+U rep (q)

[0044] Among them, q is the coordinate of UAV, U att (q) is the gravitational field, U rep (q) is the repulsive force field, so it can be obtained that the resultant force on the UAV in the field is:

[0045]

[0046] The formula for calculating the gra...

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Abstract

The invention discloses an unmanned aerial vehicle path planning method based on an artificial potential field method and an annealing algorithm. The method enables an unmanned aerial vehicle to autonomously generate disturbance and generate a new solution through the simulation of the annealing algorithm, thereby solving a problem of a local minimum value existing in a conventional artificial potential field method; meanwhile, according to interference factors such as wind existing in the external environment, a gravitational force of the unmanned aerial vehicle perpendicular to the air route is added in an original potential field, the gravitational force is restrained by the perpendicular distance between the unmanned aerial vehicle and the air route, therefore, only when the unmanned aerial vehicle deviates from the air route, the effect can be generated, then the anti-interference capacity of the unmanned aerial vehicle is improved, and the flight route stability during flight is ensured.

Description

technical field [0001] The invention relates to a UAV path planning technology, in particular to a UAV path planning method based on an artificial potential field method and an annealing algorithm. Background technique [0002] The principle of the traditional artificial potential field algorithm simulates its own environment into a virtual field in physics. In this virtual field, the mission target point has a gravitational force on the drone, and the farther the distance is, the greater the gravitational force is. The repulsive force caused by the drone, the closer the distance, the greater the repulsive force. Under the joint force of the two, the drone will move to the target point and finally reach the target point. But when the environment becomes complex, the traditional artificial potential field method will have the problem of local minimum, that is, the UAV will fall into a local optimal situation. At this time, the gravitational and repulsive forces on the UAV ar...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 陈志国齐亮张永韡宋英磊李长江暴琳
Owner JIANGSU UNIV OF SCI & TECH
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