Trajectory planning method and apparatus based on artificial potential field theory

Abstract

This application discloses a trajectory planning method and apparatus based on artificial potential field theory. The trajectory planning method includes obtaining the longitudinal trajectory of a glider within its altitude-velocity profile and the roll angle value at each time point; during the glider's flight based on the longitudinal trajectory within the altitude-velocity profile, determining whether the current heading angle is within the angle coverage range of the threat zone; if so, controlling the roll angle sign based on the heading angle coverage range of the portion of the threat zone on both sides of the reference plane relative to the glider; if not, controlling the roll angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle; and planning the lateral maneuver trajectory of the glider online based on the roll angle value, heading angle, and roll angle sign at each time point. This application solves the problems of complex implementation and local optima in existing artificial potential field methods.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and more specifically, to a trajectory planning method and apparatus based on artificial potential field theory. Background Technology

[0002] Supersonic reentry gliders, through the design of their structure and aerodynamic configuration, re-enter the airspace via gliding flight during the reentry phase, significantly increasing the reentry range. Furthermore, the slower speed decrease during gliding allows for greater lateral maneuverability through attitude adjustments, resulting in superior maneuverability.

[0003] Currently, the artificial potential field method is a commonly used online planning method for the reentry trajectory planning of supersonic reentry gliders. Its core idea is to construct gravitational and repulsive fields, causing the vehicle to move forward under the combined force of gravity and repulsion. The repulsive force (F...) rep1 F rep2 This allows the aircraft to avoid various threat zones; gravity F att To direct the aircraft towards the target direction, the direction of the net force acting on the aircraft is the actual flight direction of the aircraft as planned by the artificial potential field method. The principle of the artificial potential field method is as follows: Figure 1 As shown, the artificial potential field method for online trajectory planning leverages the unique property of force and potential fields to autonomously provide direction. The gradient function can be calculated from the constructed artificial potential field, directly providing the optimal direction, including the threat zone and the target point, thus achieving rapid trajectory planning. However, the artificial potential field method also has the following problems: it requires many initial conditions to construct the potential field, making implementation complex; and during global path planning, the complexity of the threat zone often leads to the resultant force of attraction and repulsion being zero, causing the algorithm to get stuck in a local optimum and fail to proceed. Summary of the Invention

[0004] The main purpose of this application is to solve the problems of complex implementation and local optima in the existing artificial potential field method, and to provide an online trajectory planning method for the reentry trajectory of gliders based on artificial potential field theory.

[0005] To achieve the above objectives, according to a first aspect of this application, a trajectory planning method based on artificial potential field theory is provided. The trajectory planning method based on artificial potential field theory according to this application includes: obtaining the longitudinal trajectory of a planned glider within a height-velocity profile and the tilt angle value corresponding to each time point; during the flight of the glider based on the longitudinal trajectory within the height-velocity profile, determining whether the current heading angle is within the angular coverage range of the threat zone, wherein the current heading angle is the heading angle corresponding to the velocity direction of the glider at the current time; if the current heading angle is within the angular coverage range of the threat zone, then... The tilt angle sign is controlled based on the coverage of the threat zone on both sides of the reference plane relative to the glider's heading angle. The reference plane is a plane formed by the glider's current position, the target point, and the center of the earth. If the current heading angle is not within the angle coverage of the threat zone, the tilt angle sign is controlled based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle. The target heading angle is the straight-line heading angle of the glider from the target point. The lateral maneuver trajectory of the glider is planned online based on the tilt angle value, heading angle, and tilt angle sign at each moment.

[0006] Optionally, controlling the sign of the roll angle based on the coverage of the threat zone on both sides of the reference plane relative to the glider includes: determining a first directional angle coverage of the threat zone on the left side of the reference plane relative to the glider and a second directional angle coverage of the threat zone on the right side of the reference plane relative to the glider; comparing the size of the first directional angle coverage and the second directional angle coverage; if the first directional angle coverage is greater than the second directional angle coverage, then the sign of the roll angle is controlled to be positive, where positive indicates a roll to the right; if the first directional angle coverage is less than or equal to the second directional angle coverage, then the sign of the roll angle is controlled to be negative, where negative indicates a roll to the left.

[0007] Optionally, controlling the roll sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle includes: if the difference between the glider's current heading angle and the tangent heading angle is less than the heading angle deviation threshold, then controlling the roll sign according to a first roll sign control strategy, wherein the first roll sign control strategy is a strategy to avoid the threat zone based on the difference between the current heading angle and the tangent heading angle; if the difference between the glider's current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold, then controlling the roll sign according to a second roll sign control strategy, wherein the second roll sign control strategy is a strategy to guide the target point based on the difference between the current heading angle and the target heading angle.

[0008] Optionally, the method further includes: establishing a risk avoidance criterion based on the distance from the center of the threat zone to the line connecting the current position of the glider and the target point, and the radius of the threat zone; determining whether the glider has avoided the threat zone based on the risk avoidance criterion; and controlling the tilt angle sign according to the second tilt angle sign control strategy if the threat zone has been avoided.

[0009] Optionally, controlling the billet sign according to the first billet sign control strategy includes: if the absolute value of the difference between the current heading angle and the tangent heading angle is less than the heading angle deviation threshold, then controlling the billet sign to be negative; if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than twice the heading angle deviation threshold, then controlling the billet sign to be positive; if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold and less than or equal to twice the heading angle deviation threshold, then controlling the billet sign to remain unchanged, wherein remaining unchanged means maintaining consistency with the billet sign at the previous moment.

[0010] Optionally, controlling the billet sign according to the second billet sign control strategy includes: if the difference between the current heading angle and the target heading angle is less than or equal to the negative of the heading angle deviation threshold, then controlling the billet sign to be positive; if the difference between the current heading angle and the target heading angle is greater than or equal to the heading angle deviation threshold, then controlling the billet sign to be negative; if the difference between the current heading angle and the target heading angle is greater than the negative of the heading angle deviation threshold and less than the heading angle deviation threshold, then controlling the billet sign to remain unchanged, wherein remaining unchanged means maintaining consistency with the billet sign at the previous moment.

[0011] Optionally, the avoidance criterion is as follows: if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has not been avoided; if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has been avoided.

[0012] To achieve the above objectives, according to a second aspect of this application, a trajectory planning device based on artificial potential field theory is provided. The trajectory planning device based on artificial potential field theory according to this application includes: an acquisition unit, configured to acquire the longitudinal trajectory of a planned glider within a height-velocity profile and the tilt angle value corresponding to each moment; a first judgment unit, configured to determine, during the flight of the glider based on the longitudinal trajectory within the height-velocity profile, whether the current heading angle is within the angular coverage range of the threat zone, wherein the current heading angle is the heading angle corresponding to the velocity direction of the glider at the current moment; and a first control unit, configured to determine whether the current heading angle is within the angular coverage range of the threat zone. Within the area, the tilt angle sign is controlled based on the coverage range of the threat zone on both sides of the reference plane relative to the glider's heading angle. The reference plane is a plane formed by the glider's current position, the target point, and the center of the earth. The second control unit is used to control the tilt angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle if the current heading angle is not within the angle coverage range of the threat zone. The target heading angle is the straight-line heading angle of the glider from the target point. The planning unit is used to plan the lateral maneuver trajectory of the glider online based on the tilt angle value, heading angle, and tilt angle sign at each moment.

[0013] Optionally, the first control unit includes: a determining module, configured to determine the first heading angle coverage range of the portion of the threat zone to the left of the reference plane relative to the glider and the second heading angle coverage range of the portion of the threat zone to the right of the reference plane relative to the glider; a comparing module, configured to compare the size of the first heading angle coverage range and the second heading angle coverage range; a first control module, configured to control the sign of the roll angle to be positive if the first heading angle coverage range is greater than the second heading angle coverage range, wherein the positive sign indicates a roll to the right; and a second control module, configured to control the sign of the roll angle to be negative if the first heading angle coverage range is less than or equal to the second heading angle coverage range, wherein the negative sign indicates a roll to the left.

[0014] Optionally, the second control unit includes: a third control module, configured to control the roll angle sign according to a first roll angle sign control strategy if the difference between the current heading angle of the glider and the tangent heading angle is less than the heading angle deviation threshold, wherein the first roll angle sign control strategy is a strategy to avoid the threat zone based on the difference between the current heading angle and the tangent heading angle; and a fourth control module, configured to control the roll angle sign according to a second roll angle sign control strategy if the difference between the current heading angle of the glider and the tangent heading angle is greater than or equal to the heading angle deviation threshold, wherein the second roll angle sign control strategy is a strategy to guide the target point based on the difference between the current heading angle and the target heading angle.

[0015] Optionally, the device further includes: an establishment unit, configured to establish a risk avoidance criterion based on the distance from the center of the threat zone to the line connecting the current position of the glider and the target point, and the radius of the threat zone; a second judgment unit, configured to determine whether the glider has avoided the threat zone based on the risk avoidance criterion; and a third control unit, configured to control the tilt angle sign according to the second tilt angle sign control strategy if the threat zone has been avoided.

[0016] Optionally, the third control module is configured to: control the sign of the roll angle to be negative if the absolute value of the difference between the current heading angle and the tangent heading angle is less than the heading angle deviation threshold; control the sign of the roll angle to be positive if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than twice the heading angle deviation threshold; and control the sign of the roll angle to remain unchanged if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold and less than or equal to twice the heading angle deviation threshold, wherein remaining unchanged means maintaining the same roll angle sign as the previous moment.

[0017] Optionally, the fourth control module is configured to: control the sign of the roll angle to be positive if the difference between the current heading angle and the target heading angle is less than or equal to the negative of the heading angle deviation threshold; control the sign of the roll angle to be negative if the difference between the current heading angle and the target heading angle is greater than or equal to the heading angle deviation threshold; and control the sign of the roll angle to remain unchanged if the difference between the current heading angle and the target heading angle is greater than the negative of the heading angle deviation threshold and less than the heading angle deviation threshold, wherein remaining unchanged means maintaining the same roll angle sign as the previous moment.

[0018] Optionally, the avoidance criterion in the second judgment unit is: if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has not been avoided; if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has been avoided.

[0019] To achieve the above objectives, according to a third aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing the computer to execute the trajectory planning method based on artificial potential field theory as described in any of the first aspects above.

[0020] To achieve the above objectives, according to a fourth aspect of this application, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the trajectory planning method based on artificial potential field theory as described in any of the first aspects above.

[0021] In the trajectory planning method and apparatus based on artificial potential field theory in this application embodiment, when the glider is performing online lateral maneuver trajectory planning during longitudinal trajectory flight based on the altitude-velocity profile, the determination of the tilt angle sign specifically involves determining whether the current heading angle is within the angular coverage range of the threat zone. If the current heading angle is within the angular coverage range of the threat zone, the tilt angle sign is controlled based on the portion of the threat zone on both sides of the reference plane relative to the heading angle coverage range of the glider. The reference plane is the plane formed by the current position of the glider, the target point, and the center of the earth. If the current heading angle is not within the angular coverage range of the threat zone, the tilt angle sign is controlled based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle. The target heading angle is the straight-line heading angle from the current glider to the target point, and the current heading angle is the heading angle corresponding to the velocity direction of the glider at the current moment. This application's embodiment borrows the idea of ​​the original artificial potential field method, using the coverage area of ​​the threat zone relative to the aircraft's heading angle to replace virtual gravity and repulsion to determine the aircraft's next maneuver direction. This method is simple to implement. Furthermore, in the control strategy for the billet angle sign when the current heading angle is outside the angle coverage area of ​​the threat zone, this application's embodiment divides the threat zone avoidance and target guidance into two parts: a control strategy for avoiding the threat zone based on the difference between the current heading angle and the tangent heading angle, and a control strategy for guiding the target point based on the difference between the current heading angle and the target heading angle. The trajectories of these two parts are relatively independent during online planning and do not interfere with each other when providing maneuver directions, effectively avoiding the local optima phenomenon present in existing artificial potential fields. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings:

[0023] Figure 1 This is a schematic diagram illustrating the principle of the existing artificial potential field method;

[0024] Figure 2A flowchart of a trajectory planning method based on artificial potential field theory is provided according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram illustrating the principle of a control strategy for an aircraft to maneuver towards the side of a threat zone with a smaller heading angle coverage, according to an embodiment of this application.

[0026] Figure 4 A schematic diagram of a tilt angle sign control strategy provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the longitudinal trajectory of a glider in the altitude-velocity profile according to an embodiment of this application;

[0028] Figure 6 This is a schematic diagram corresponding to the avoidable distance constraint of a safety avoidance threat zone during planning, according to an embodiment of this application;

[0029] Figure 7 This is a block diagram of a trajectory planning device based on artificial potential field theory provided in an embodiment of this application;

[0030] Figure 8 This is a block diagram of another trajectory planning device based on artificial potential field theory provided according to an embodiment of this application. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] First, it should be noted that the embodiments of this application mainly address the avoidance of threat zones by gliders in the process of reaching a target point, and the threat zone and target point may be constantly moving, requiring the aircraft to perform online trajectory planning.

[0035] According to an embodiment of this application, a trajectory planning method based on artificial potential field theory is provided, such as... Figure 2 As shown, the method includes the following steps S101-S105: S101. Obtain the longitudinal trajectory of the planned glider in the altitude-velocity profile and the tilt angle value corresponding to each time point; S102. During the flight of the glider based on the longitudinal trajectory in the altitude-velocity profile, determine whether the current heading angle is within the angle coverage range of the threat zone; S103. If the current heading angle is within the angle coverage range of the threat zone, control the tilt angle sign according to the heading angle coverage range of the portion of the threat zone on both sides of the reference plane relative to the glider; S104. If the current heading angle is not within the angle coverage range of the threat zone, control the tilt angle sign according to the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle; S105. Plan the lateral maneuver trajectory of the glider online according to the tilt angle value, heading angle, and tilt angle sign at each time point.

[0036] In step S101, the longitudinal trajectory within the altitude-velocity profile of the glider is determined by defining the boundaries of the altitude-velocity profile based on various constraints during flight. This is achieved by designing an altitude-velocity profile planning model to determine the longitudinal trajectory within the profile. Based on the altitude-velocity profile planning model, the altitude and velocity of the glider at each time point can be obtained. Then, combined with the glider's reentry dynamics model, the roll angle value at each time point, i.e., the magnitude of the roll angle, can be calculated.

[0037] Specifically, assuming the Earth is a homogeneous sphere and neglecting its rotation, the three-degree-of-freedom reentry dynamics model for a single glider is as follows:

[0038]

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] In the formula, (1.1)-(1.6) correspond to h, V, θ, σ, λ, respectively. The expression for the result of taking the first derivative with respect to time t, where h represents the glider's altitude, V represents the glider's velocity, r represents the distance from the Earth's center to the glider's current position, m represents the glider's mass, g represents gravitational acceleration, and λ... The coordinates represent the current position of the glider on Earth (latitude and longitude). θ, σ, and ν represent the glider's velocity tilt angle, heading angle, and roll angle, respectively. D and L represent the aerodynamic drag and lift experienced by the glider. The heading angle σ is defined as the angle traversed when rotating clockwise from true north to the glider's facing direction. The formulas for calculating D and L are:

[0045]

[0046]

[0047] In the formula, S represents the aerodynamic reference area of ​​the aircraft, ρ represents the air density of the environment in which the aircraft is located, and this paper uses the 1976 American Standard Atmospheric Model for calculation. D C L C represents the drag coefficient and lift coefficient of the aircraft. D C L The angle of attack can be calculated using an angle of attack variation model (a piecewise linear function model of angle of attack variation), and then C can be determined by looking up tables or other methods. D C L .

[0048] By substituting the altitude and velocity planned according to the altitude-velocity profile planning model into formula (1.1) in the reentry dynamics model, the corresponding velocity tilt angle can be obtained, and the flight time can also be determined accordingly.

[0049] The value of the roll angle can be derived from formulas (1.1) and (1.3) in the reentry dynamics model; that is, the formula for calculating the roll angle is:

[0050]

[0051] Then, the current heading angle can be calculated in real time according to formula (1.4) in the reentry dynamics model.

[0052] In step S102, the heading angle is the angle traversed by rotating clockwise from due north to the direction the aircraft is facing. The current heading angle is the heading angle corresponding to the velocity direction of the glider at the current moment, that is, the angle between the velocity direction of the glider and due north. The current heading angle can be calculated according to formula (1.4) in the above steps. The coverage area of ​​the threat zone can be determined based on the radius of the threat zone. The number of threat zones can be one or more. By comparing the coverage area of ​​the threat zone with a heading range determined by the current heading angle, it can be determined whether the current heading angle is within the angular coverage area of ​​the threat zone, that is, whether the trajectory to be flown contains a threat zone.

[0053] In step S103, the reference plane is a plane formed by the current position of the glider, the target point, and the center of the earth. Controlling the sign of the roll angle based on the coverage of the threat zone on both sides of the reference plane relative to the glider's heading angle involves: determining the first heading angle coverage of the threat zone on the left side of the reference plane relative to the glider and the second heading angle coverage of the threat zone on the right side of the reference plane relative to the glider; comparing the sizes of the first and second heading angle coverages; if the first heading angle coverage is greater than the second heading angle coverage, the sign of the roll angle is positive, indicating a roll to the right; if the first heading angle coverage is less than or equal to the second heading angle coverage, the sign of the roll angle is negative, indicating a roll to the left. The expression corresponding to the strategy for controlling the roll angle sign is as follows:

[0054]

[0055] In equation (1.9) v t Let be the roll angle of the spacecraft at time t, and sgn represent the sign of the roll angle. rep (v t ), sgn(v t ) represents the expression for the sign of the billet angle under different control strategies, σ represents the current heading angle, and Ψ represents the heading angle. r Indicates the coverage area of ​​the second heading angle, Ψ l Indicates the coverage area of ​​the first heading angle, Ψ r,l Ψ represents the total coverage area of ​​the threat zone relative to the aircraft's heading angle. In equation (1.9), Ψ r <Ψ l When the coverage area of ​​the first heading angle is greater than the coverage area of ​​the second heading angle, sgn rep (v t ) = 1 indicates that the yaw angle is controlled to tilt to the right; Ψ r ≥Ψ l When the coverage area of ​​the first heading angle is less than or equal to the coverage area of ​​the second heading angle, sgnrep (v t = -1 indicates that the tilt angle is controlled to tilt to the left; these two cases correspond to the control strategy of the tilt angle symbol in step S103. The control strategy corresponding to the tilt angle sign in step S104, therefore sgn(v t For the specific expression, please refer to the explanation of step S104.

[0056] The control strategy for the tilt angle symbol in step S103 indicates that when a threat area is detected on the flight path, the aircraft will maneuver towards the side with a smaller heading angle coverage of the threat area. Figure 3 A schematic diagram illustrating the principle of a control strategy for maneuvering towards the side of the threat zone with a smaller heading angle coverage is shown. Figure 3 In the diagram, V represents the speed of the glider, and the three circular areas represent the three threat zones.

[0057] In step S104, the target heading angle is the straight-line heading angle from the current glider to the target point. The control of the roll angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle specifically involves: if the difference between the glider's current heading angle and the tangent heading angle is less than the heading angle deviation threshold, the roll angle sign is controlled according to a first roll angle sign control strategy, which is a strategy to avoid the threat zone based on the difference between the current heading angle and the tangent heading angle; if the difference between the glider's current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold, the roll angle sign is controlled according to a second roll angle sign control strategy, which is a strategy to guide the glider to the target point based on the difference between the current heading angle and the target heading angle. The heading angle deviation threshold is a preset heading angle deviation threshold representing the glider's deviation from the target heading. Furthermore, according to the first roll angle sign control strategy, the roll angle sign is controlled as follows: if the absolute value of the difference between the current heading angle and the tangent heading angle is less than the heading angle deviation threshold, the roll angle sign is controlled to be negative; if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than twice the heading angle deviation threshold, the roll angle sign is controlled to be positive; if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold and less than or equal to twice the heading angle deviation threshold, the roll angle sign is controlled to remain unchanged, where remaining unchanged means maintaining consistency with the roll angle sign of the previous moment. Furthermore, the billet sign is controlled according to the second billet sign control strategy as follows: if the difference between the current heading angle and the target heading angle is less than or equal to the negative of the heading angle deviation threshold, the billet sign is controlled to be positive; if the difference between the current heading angle and the target heading angle is greater than or equal to the heading angle deviation threshold, the billet sign is controlled to be negative; if the difference between the current heading angle and the target heading angle is greater than the negative of the heading angle deviation threshold but less than the heading angle deviation threshold, the billet sign is controlled to remain unchanged, where "remains unchanged" means maintaining consistency with the billet sign at the previous moment. The expression for the billet sign control strategy corresponding to step S104 is as follows:

[0058]

[0059]

[0060]

[0061] In equations (1.10)-(1.12), Δσ th σ represents the heading angle deviation threshold. dw σ represents the tangent heading angle.m sgn represents the target heading angle. σ (v t ) represents the second tilt angle sign control strategy, sgn gb (v t ) represents the second tilt angle sign control strategy, sgn(v t-1 The sign of the tilt angle at time t-1 is given. Additionally, Figure 4 This is a schematic diagram of the tilt angle sign control strategy in step S104. Figure 4 The middle circle represents the threat zone, line segment d is the lateral maneuver trajectory determined according to the tilt angle sign control strategy, and V is the aircraft velocity. Figure 4 σ is also shown in the middle. m σ dw , σ.

[0062] The roll angle sign control strategy in step S104 indicates that when the aircraft performs a lateral maneuver until the heading angle is outside the angle coverage of the threat zone, that is... The system employs two control strategies: avoiding the risk zone (threat zone) and guiding to the target (target point). The trajectories of the two parts are relatively independent during online planning and do not interfere with each other when providing maneuver directions, effectively avoiding the local optima phenomenon that exists in the artificial potential field.

[0063] In step S105, the lateral maneuver trajectory of the glider is planned online based on the tilt angle value, heading angle, and tilt angle sign at each moment. Specifically, the lateral maneuver capability can be determined based on the tilt angle value determined in step S101, the tilt direction can be determined based on the tilt angle sign determined in steps S103-S104, and the heading angle can be calculated using formula (1.4). Therefore, the lateral maneuver trajectory of the glider can be planned online. After the lateral maneuver trajectory and the longitudinal trajectory within the altitude-velocity profile are planned, the complete reentry trajectory of the glider can be obtained.

[0064] As can be seen from the above description, in the trajectory planning method based on artificial potential field theory in this application embodiment, when the glider is performing online lateral maneuver trajectory planning during longitudinal trajectory flight based on the altitude-velocity profile, the judgment of the tilt angle sign specifically involves determining whether the current heading angle is within the angle coverage range of the threat zone. If the current heading angle is within the angle coverage range of the threat zone, the tilt angle sign is controlled according to the heading angle coverage range of the portion of the threat zone on both sides of the reference plane relative to the glider. The reference plane is the plane formed by the current position of the glider, the target point, and the center of the earth. If the current heading angle is not within the angle coverage range of the threat zone, the tilt angle sign is controlled according to the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle. The target heading angle is the straight heading angle of the current glider to the target point, and the current heading angle is the heading angle corresponding to the velocity direction of the glider at the current moment. This application's embodiment borrows the idea of ​​the original artificial potential field method, using the coverage area of ​​the threat zone relative to the aircraft's heading angle to replace virtual gravity and repulsion to determine the aircraft's next maneuver direction. This method is simple to implement. Furthermore, in the control strategy for the billet angle sign when the current heading angle is outside the angle coverage area of ​​the threat zone, this application's embodiment divides the threat zone avoidance and target guidance into two parts: a control strategy for avoiding the threat zone based on the difference between the current heading angle and the tangent heading angle, and a control strategy for guiding the target point based on the difference between the current heading angle and the target heading angle. The trajectories of these two parts are relatively independent during online planning and do not interfere with each other when providing maneuver directions, effectively avoiding the local optima phenomenon present in existing artificial potential fields.

[0065] Furthermore, this application provides an altitude-velocity profile planning model, namely a five-segment altitude-velocity profile planning model. The five-segment altitude-velocity profile planning model includes a planning segment and a transition segment. The planning segment controls the flight time and flight range of the entire gliding segment through two altitude coefficients and reentry trajectory boundary control. The transition segment ensures the continuity of changes throughout the gliding segment. Specifically, in this application embodiment, the five-segment altitude-velocity profile planning model includes two planning segments and three transition segments, where the second and fourth segments are planning segments, and the first, third, and fifth segments are transition segments. The specific model is as follows:

[0066]

[0067] Where h(V) is the expression for the relationship between the glider's flight speed V and flight altitude h, a i b i c i i = 1, 2, 3 are polynomial coefficients, V1, V2, V3, V4 are selected velocity values ​​for the entire gliding segment, and h max (V), hmin (V) represents the upper and lower boundary heights corresponding to the velocity V within the reentry trajectory boundary in the height-velocity profile, respectively. V0 is the initial velocity, V f K is the terminal velocity, k1 is the first altitude coefficient, and k2 is the second altitude coefficient. As k1 and k2 increase, the corresponding altitude value will approach the lower boundary of the reentry trajectory infinitely.

[0068] Regarding the model in equation (1.13), it should be noted that the first and fifth polynomials are the beginning and end transition segments, which are quadratic curves responsible for ensuring the continuity of change between the gliding segment and the boost and terminal guidance segments; the third polynomial is the intermediate transition segment, which is a cubic curve responsible for ensuring the continuity of change between the two gliding segments. The coefficients of the transition segments can be calculated after determining the slope of the planning segment. The two planning segments are used to control the reentry trajectory with two altitude coefficients respectively, so as to achieve separate control of the range and time. When the altitude coefficients are inconsistent, it will cause a discontinuity between the two planning segments. Therefore, an intermediate segment is needed for transition. In addition, there is also a certain discontinuity between the given initial and terminal states of the aircraft and the two planning segments. Therefore, two beginning and end transition segments are also needed to connect the two planning segments with the initial and terminal states. There are three reasons for choosing a combination of quadratic, cubic, and quadratic polynomials in the transition section: first, to ensure the continuity of change, a curve needs to be used for fitting; second, the combination of quadratic, cubic, and quadratic polynomials can meet the planning requirements; and third, according to the form of the planning polynomial, without adding extra preset conditions and planning complexity, quadratic, cubic, and quadratic polynomials are the limit high-order polynomials that can be solved based on the existing preset conditions.

[0069] Solving the five-segment height-velocity profile programming model allows us to determine all coefficients except the two height coefficients. Specifically, the coefficient 'a' in the transition segment is determined based on the continuity and smoothness of the height-velocity variation, ensuring the entire polynomial is continuously differentiable. i b i c i The values ​​of i = 1, 2, 3 are shown in the following process:

[0070] Based on the continuity and smoothness of the height-velocity variation, it is necessary to ensure the continuous differentiability of the entire polynomial. Equation (1.13) must satisfy the following condition:

[0071]

[0072] Therefore, the following system of equations can be obtained:

[0073]

[0074]

[0075]

[0076] Furthermore, the formula for calculating the coefficients in the transition section can be obtained:

[0077]

[0078] Among them, i=1,2,3, [a i ]、[b i ]、[c i [A1], [B1], [A2], [B2], [A3], and [B3] represent the coefficient matrices on both sides of equations (1.14), (1.15), and (1.16), respectively. Since V1, V2, V3, V4, V0 (initial velocity), h0 (initial height), V f (Terminal speed), h f The terminal height is a pre-set known value, so the coefficient value of the transition polynomial can be obtained through matrix operation of equation (1.17).

[0079] The values ​​of the two altitude coefficients are determined using Newton's iteration method. Specifically, this involves: determining an initial five-segment polynomial based on the desired flight range and time (preset flight range and time), the initial settings of the two altitude coefficients, and initial parameters (initial velocity, initial altitude, terminal altitude, terminal velocity, and other parameters known before trajectory planning), and constraints; calculating the actual flight range and actual flight time based on the initial five-segment polynomial; determining the first error value for the actual flight range and desired flight range, and the second error value for the actual flight time and desired flight time; adjusting the initial settings of the two altitude coefficients based on the first and second error values; updating the initial five-segment polynomial, actual flight range, and actual flight time based on the adjusted initial settings of the two altitude coefficients until the first and second error values ​​meet the error thresholds; and finally, determining the final adjusted initial settings of the two altitude coefficients as their values. It should be noted that calculating the actual flight range and actual flight time based on the initial five-segment polynomial requires combining it with the glider's reentry dynamics model.

[0080] After determining all the coefficients of the transition section and the two altitude coefficients of the planning section, the five-segment altitude-velocity profile planning model can be determined, and thus the longitudinal trajectory of the glider within the altitude-velocity profile can be determined. For example... Figure 5 The diagram shown is a schematic representation of the longitudinal trajectory of a glider within its altitude-velocity profile, obtained using the planning method according to an embodiment of this application. Figure 5The midline segment c is the longitudinal trajectory within the height-velocity profile, with the abscissa being velocity V and the ordinate being height h. Segments a and b are the upper and lower boundaries of the reentry trajectory within the height-velocity profile, respectively.

[0081] Furthermore, during flight, a hazard avoidance criterion is established based on the distance from the center of the threat zone to the line connecting the glider's current position and the target point, as well as the radius of the threat zone. This criterion is used to determine whether the glider has avoided the threat zone. If it has avoided the threat zone, the tilt angle sign is controlled according to the second tilt angle sign control strategy. Specifically, the hazard avoidance criterion is as follows: if the distance from the center of the threat zone to the line connecting the glider's current position and the target point is less than the radius of the threat zone, then the threat zone has not been avoided; if the distance from the center of the threat zone to the line connecting the glider's current position and the target point is less than the radius of the threat zone, then the threat zone has been avoided. The specific expression for the hazard avoidance criterion is as follows:

[0082]

[0083] Among them, L dis R represents the distance from the center of the threat zone to the line connecting the current position of the glider and the target point, and R represents the radius of the threat zone. When the aircraft performs a lateral maneuver to avoid the threat zone, if the result of the above formula is 0, it means that the aircraft has not yet avoided the threat zone and should continue to perform lateral maneuvering avoidance according to the control strategies in steps S103 and S104 above; if the result of the above formula is 1, it means that the aircraft has avoided the threat zone and should directly control the aircraft according to the second tilt angle sign control strategy sgn. σ (v t Guide the aircraft to the target point.

[0084] Furthermore, the constraints for the aircraft to avoid the threat zone are analyzed, namely the constraints for the flight around the target area: (1) Avoidable distance constraint: Since the turning ability of each point on the planned trajectory is limited, when the aircraft discovers the threat zone during flight, the distance between the aircraft and the center of the threat zone needs to satisfy the following formula (1.18) when it begins to perform lateral maneuvers. If it does not satisfy the formula, it cannot guarantee that the threat zone will be completely avoided. Formula (1.18) can be used as a constraint for safely avoiding the threat zone during planning.

[0085]

[0086] Among them, L diss R represents the distance between the aircraft and the center of the threat zone. ft This represents the turning radius of the aircraft at the current moment as it flies along the planned trajectory, where R is the radius of the threat zone. Figure 6 As shown, Ψ l(r)It is the angle formed between the two lines connecting the aircraft's current position to the target point and point A, where point A is the point of tangency when the aircraft is tangent to the threat zone. Figure 6 L is also shown in the text. diss , R, R ft .

[0087] (2) Target reachability constraint: When the aircraft flies along the planned trajectory, the range of heading angle variation along the entire trajectory is limited. After the aircraft bypasses the threat zone, the remaining heading angle should at least satisfy the following equation (1.19):

[0088] σ s >=2σ m (1.19)

[0089] In the formula σ s σ represents the magnitude of the aircraft's remaining heading angle deflection. m This represents the difference in heading angle between the moment the aircraft bypasses the threat zone and the target point, i.e., the target heading angle corresponding to the moment the aircraft bypasses the threat zone. If the above formula is not satisfied, it means that the remaining heading angle deflection is insufficient to support the aircraft in completing the heading angle deflection to the target's heading, and the aircraft will not be able to reach the target.

[0090] (3) Remaining Range Analysis: Supersonic reentry gliders have a high initial flight distance and a low later flight distance, and their flight speed is extremely high, typically exceeding Mach 5 in the terminal phase. Interception systems threatening them have a very limited effective range, and the success rate of interception during the mid-flight phase is low. Therefore, they are usually deployed near the target's terminal region, with an effective interception range generally being a cylindrical area with a radius of about 30 km. In the simulation analysis, a range of 30 km is used. The interception range is small relative to the overall reentry trajectory, and the impact on the overall range after the detour is negligible; the remaining range is still sufficient for the vehicle to reach the target point.

[0091] (4) Time consumption analysis: Most traditional online planning methods accelerate the calculation speed of optimization algorithms and replan the remaining trajectory during flight. Therefore, it is necessary to verify the feasibility of online planning by providing the consumption time. In the online avoidance scenario in this paper, combined with the uniqueness of the reentry trajectory planned in the altitude-velocity profile, it is only necessary to give the sign of the tilt angle at the next moment, i.e. the turning direction of the aircraft, according to the position of the threat zone and the aircraft, to realize the online planning of the threat zone avoidance. Its calculation is very small and sufficient to meet the requirements of real-time calculation.

[0092] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0093] According to embodiments of this application, a method for implementing the above is also provided. Figure 1-6 The method uses a trajectory planning device 200 based on artificial potential field theory, such as... Figure 7 As shown, the trajectory planning device 200 based on artificial potential field theory of this application includes: an acquisition unit 21, used to acquire the longitudinal trajectory of the planned glider in the altitude-velocity profile and the tilt angle value corresponding to each time point; a first judgment unit 22, used to determine whether the current heading angle is within the angular coverage range of the threat zone during the flight of the glider based on the longitudinal trajectory in the altitude-velocity profile, wherein the current heading angle is the heading angle corresponding to the velocity direction of the glider at the current time; and a first control unit 23, used to, if the current heading angle is within the angular coverage range of the threat zone, determine whether the current heading angle is within the angular coverage range of the threat zone, based on the portion of the threat zone on both sides of the reference plane. The tilt angle sign is controlled relative to the heading angle coverage range of the glider. The reference plane is a plane formed by the current position of the glider, the target point, and the center of the earth. The second control unit 24 is used to control the tilt angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle if the current heading angle is not within the angle coverage range of the threat zone. The target heading angle is the straight-line heading angle of the current glider to the target point. The planning unit 25 is used to plan the lateral maneuver trajectory of the glider online based on the tilt angle value, heading angle, and tilt angle sign at each moment.

[0094] Furthermore, such as Figure 8 As shown, the first control unit 23 includes: a determining module 231, used to determine the first heading angle coverage range of the portion of the threat zone to the left of the reference plane relative to the glider and the second heading angle coverage range of the portion of the threat zone to the right of the reference plane relative to the glider; a comparing module 232, used to compare the size of the first heading angle coverage range and the second heading angle coverage range; a first control module 233, used to control the sign of the roll angle to be positive if the first heading angle coverage range is greater than the second heading angle coverage range, wherein the positive sign indicates a roll to the right; and a second control module 234, used to control the sign of the roll angle to be negative if the first heading angle coverage range is less than or equal to the second heading angle coverage range, wherein the negative sign indicates a roll to the left.

[0095] Furthermore, such as Figure 8As shown, the second control unit 24 includes: a third control module 241, configured to control the tilt angle sign according to a first tilt angle sign control strategy if the difference between the current heading angle of the glider and the tangent heading angle is less than the heading angle deviation threshold, wherein the first tilt angle sign control strategy is a strategy to avoid the threat zone based on the difference between the current heading angle and the tangent heading angle; and a fourth control module 242, configured to control the tilt angle sign according to a second tilt angle sign control strategy if the difference between the current heading angle of the glider and the tangent heading angle is greater than or equal to the heading angle deviation threshold, wherein the second tilt angle sign control strategy is a strategy to guide the target point based on the difference between the current heading angle and the target heading angle.

[0096] Furthermore, such as Figure 8 As shown, the device further includes: a establishment unit 26, used to establish a risk avoidance criterion based on the distance from the center of the threat zone to the line connecting the current position of the glider and the target point, and the radius of the threat zone; a second judgment unit 27, used to determine whether the glider has avoided the threat zone based on the risk avoidance criterion; and a third control unit 28, used to control the tilt angle sign according to the second tilt angle sign control strategy if the threat zone has been avoided.

[0097] Furthermore, such as Figure 8 As shown, the third control module 241 is configured to: control the sign of the roll angle to be negative if the absolute value of the difference between the current heading angle and the tangent heading angle is less than the heading angle deviation threshold; control the sign of the roll angle to be positive if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than twice the heading angle deviation threshold; and control the sign of the roll angle to remain unchanged if the absolute value of the difference between the current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold and less than or equal to twice the heading angle deviation threshold, wherein remaining unchanged means maintaining the same roll angle sign as the previous moment.

[0098] Furthermore, such as Figure 8 As shown, the fourth control module 242 is configured to: control the sign of the roll angle to be positive if the difference between the current heading angle and the target heading angle is less than or equal to the negative number of the heading angle deviation threshold; control the sign of the roll angle to be negative if the difference between the current heading angle and the target heading angle is greater than or equal to the heading angle deviation threshold; and control the sign of the roll angle to remain unchanged if the difference between the current heading angle and the target heading angle is greater than the negative number of the heading angle deviation threshold and less than the heading angle deviation threshold, wherein remaining unchanged means maintaining the same roll angle sign as the previous moment.

[0099] Furthermore, such as Figure 8As shown, the avoidance criterion in the second judgment unit 27 is: if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has not been avoided; if the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has been avoided.

[0100] Specifically, the detailed process by which each unit and module in the device of this application implements its function can be found in the relevant description in the method embodiment, and will not be repeated here.

[0101] As can be seen from the above description, in the trajectory planning device based on artificial potential field theory of this application embodiment,

[0102] According to an embodiment of this application, a computer-readable storage medium is also provided, characterized in that the computer-readable storage medium stores computer instructions, which are used to cause the computer to execute the trajectory planning method based on artificial potential field theory in the above method embodiments.

[0103] According to an embodiment of this application, an electronic device is also provided, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the trajectory planning method based on artificial potential field theory in the above method embodiments.

[0104] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0105] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A trajectory planning method based on artificial potential field theory, characterized in that, The method includes: Obtain the longitudinal trajectory of the planned glider in the altitude-velocity profile and the roll angle value at each time point; During the flight of the glider based on the longitudinal trajectory within the altitude-velocity profile, it is determined whether the current heading angle is within the angular coverage range of the threat zone. The current heading angle is the heading angle corresponding to the velocity direction of the glider at the current moment. The angular coverage range of the threat zone is the sum of the first heading angle coverage range of the portion of the threat zone to the left of the reference plane relative to the glider and the second heading angle coverage range of the portion of the threat zone to the right of the reference plane relative to the glider. If the current heading angle is within the angle coverage range of the threat zone, the tilt angle sign is controlled according to the portion of the threat zone on both sides of the reference plane relative to the heading angle coverage range of the glider. The reference plane is a plane formed by the current position of the glider, the target point, and the center of the earth. If the current heading angle is not within the angle coverage of the threat zone, then the tilt angle sign is controlled according to the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle. The target heading angle is the straight heading angle of the current glider to the target point. The lateral maneuver trajectory of the glider is planned online based on the tilt angle value, heading angle, and tilt angle sign at each moment.

2. The trajectory planning method based on artificial potential field theory according to claim 1, characterized in that, The method of controlling the roll angle sign based on the portion of the threat zone on both sides of the reference plane relative to the heading angle coverage of the glider includes: Determine the coverage area of ​​the portion of the threat zone to the left of the reference plane relative to the first heading angle of the glider and the coverage area of ​​the portion of the threat zone to the right of the reference plane relative to the second heading angle of the glider; Compare the size of the first heading angle coverage area and the second heading angle coverage area; If the coverage area of ​​the first heading angle is greater than the coverage area of ​​the second heading angle, then the sign of the control tilt angle is positive, which means tilting to the right. If the coverage area of ​​the first heading angle is less than or equal to the coverage area of ​​the second heading angle, then the sign of the control heel angle is negative, which indicates heeling to the left.

3. The trajectory planning method based on artificial potential field theory according to claim 1, characterized in that, The method of controlling the billet angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle includes: If the difference between the current heading angle of the glider and the tangent heading angle is less than the heading angle deviation threshold, the heading angle sign is controlled according to the first heading angle sign control strategy. The first heading angle sign control strategy is a strategy to avoid the threat zone based on the difference between the current heading angle and the tangent heading angle. If the difference between the current heading angle of the glider and the tangent heading angle is greater than or equal to the heading angle deviation threshold, the heading angle sign is controlled according to the second heading angle sign control strategy. The second heading angle sign control strategy is a strategy that guides the target point based on the difference between the current heading angle and the target heading angle.

4. The trajectory planning method based on artificial potential field theory according to claim 3, characterized in that, The method further includes: A risk avoidance criterion is established based on the distance from the center of the threat zone to the line connecting the current position of the glider and the target point, and the radius of the threat zone. Determine whether the glider avoids the threat zone based on the aforementioned risk avoidance criteria; If the threat zone has been avoided, the tilt angle symbol is controlled according to the second tilt angle symbol control strategy.

5. The trajectory planning method based on artificial potential field theory according to claim 3, characterized in that, The control of the tilt angle sign according to the first tilt angle sign control strategy includes: If the absolute value of the difference between the current heading angle and the tangent heading angle is less than the heading angle deviation threshold, then the sign of the roll angle is controlled to be negative; If the absolute value of the difference between the current heading angle and the tangent heading angle is greater than twice the heading angle deviation threshold, then the sign of the roll angle is controlled to be positive. If the absolute value of the difference between the current heading angle and the tangent heading angle is greater than or equal to the heading angle deviation threshold and less than or equal to twice the heading angle deviation threshold, then the sign of the roll angle is kept unchanged, meaning that it is consistent with the sign of the roll angle at the previous moment.

6. The trajectory planning method based on artificial potential field theory according to claim 4, characterized in that, The risk avoidance criterion is: If the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has not been avoided. If the distance from the center of the threat zone to the line connecting the current position of the glider and the target point is less than the radius of the threat zone, then the threat zone has been avoided.

7. A trajectory planning device based on artificial potential field theory, characterized in that, The device includes: The acquisition unit is used to acquire the longitudinal trajectory of the planned glider in the altitude-velocity profile and the tilt angle value at each time point; The first judgment unit is used to determine whether the current heading angle is within the angle coverage range of the threat zone during the flight of the glider based on the longitudinal trajectory in the altitude-velocity profile. The angle coverage range of the threat zone is the sum of the first heading angle coverage range of the part of the threat zone on the left side of the reference plane relative to the glider and the second heading angle coverage range of the part of the threat zone on the right side of the reference plane relative to the glider. The first control unit is used to control the tilt angle sign based on the portion of the threat zone on both sides of the reference plane relative to the heading angle coverage of the glider if the current heading angle is within the angle coverage range of the threat zone. The reference plane is a plane formed by the current position of the glider, the target point, and the center of the earth. The second control unit is used to control the tilt angle sign based on the heading angle deviation threshold, the tangent heading angle when the current heading is tangent to the edge of the threat zone, the target heading angle, and the current heading angle if the current heading angle is not within the angle coverage range of the threat zone. The target heading angle is the straight heading angle of the current glider to the target point. The planning unit is used to plan the lateral maneuver trajectory of the glider online based on the tilt angle value, heading angle, and tilt angle sign at each moment.

8. The trajectory planning device based on artificial potential field theory according to claim 7, characterized in that, The first control unit includes: The determination module is used to determine the coverage range of the portion of the threat zone to the left of the reference plane relative to the first heading angle of the glider and the coverage range of the portion of the threat zone to the right of the reference plane relative to the second heading angle of the glider; The comparison module is used to compare the size of the first heading angle coverage area and the second heading angle coverage area; The first control module is used to control the sign of the roll angle to be positive if the coverage range of the first heading angle is greater than the coverage range of the second heading angle, wherein positive indicates rolling to the right. The second control module is used to control the sign of the roll angle to be negative if the coverage range of the first heading angle is less than or equal to the coverage range of the second heading angle, wherein the negative sign indicates rolling to the left.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the trajectory planning method based on artificial potential field theory as described in any one of claims 1 to 6.

10. An electronic device, characterized in that, include: At least one processor; The at least one processor is also connected in communication with a memory; wherein the memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the trajectory planning method based on artificial potential field theory as described in any one of claims 1 to 6.

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