Aircraft obstacle avoidance shortest trajectory planning method and system based on improved artificial potential field method
By improving the artificial potential field method, real-time detection and avoiding dynamic obstacles in the aircraft, the problem of difficult obstacles in flight path planning in traditional methods is solved, and the flight safety and mission efficiency are improved.
Patent Information
- Application Number
- CN202411879049.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-03-28
AI Technical Summary
Traditional flight path planning methods are difficult to avoid dynamic obstacles in real time, resulting in flight safety risks and low mission efficiency.
The aircraft obstacle avoidance shortest trajectory planning method is adopted based on the improved artificial potential field method. By detecting obstacle targets in real time, setting adjustment factors, establishing gravitational and repulsive potential fields, calculating forward synergy, planning the optimal trajectory and generating the global shortest trajectory.
Real-time planning of flight paths is achieved, helping pilots to effectively avoid dynamic obstacles, and improving the safety of flight paths and mission completion efficiency.
Smart Images
Figure CN119717816A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of aircraft obstacle avoidance trajectory planning, and more specifically to an aircraft obstacle avoidance shortest trajectory planning method and system based on an improved artificial potential field method. Background Art
[0002] In emergency situations such as disaster relief, its effectiveness and accuracy are directly related to the success or failure of the rescue or operation. Among them, aerial material delivery is a fast and effective way of material supply. The goal of aerial material delivery planning is to deliver the required materials to the designated area quickly and accurately while ensuring safety.
[0003] During aircraft delivery (such as airdrop or tactical delivery), pilots need to deal with complex and ever-changing environmental factors, such as sudden weather changes, other aircraft, strike threats, electromagnetic interference, airflow and ground obstacles. Traditional flight path planning methods often ignore the real-time avoidance of dynamic obstacles, causing pilots to face high decision-making pressure and potential flight safety risks during flight; at the same time, they are unable to plan the shortest path, which leads to low efficiency in completing the mission.
[0004] Therefore, how to plan the flight path in real time to assist the pilot to effectively avoid the surrounding dynamic obstacles, thereby improving the safety of the flight path and the efficiency of mission completion is an urgent problem that technical personnel in this field need to solve. Summary of the invention
[0005] In view of this, the present invention provides an aircraft obstacle avoidance shortest trajectory planning method and system based on an improved artificial potential field method, which plans the flight path in real time, assists the pilot to effectively avoid the surrounding dynamic obstacles, thereby improving the safety of the flight path and the efficiency of mission completion.
[0006] In order to achieve the above object, the present invention adopts the following technical solution:
[0007] The shortest trajectory planning method for aircraft obstacle avoidance based on the improved artificial potential field method includes:
[0008] Real-time detection of obstacles when the aircraft reaches the target point;
[0009] Setting an adjustment factor and establishing an artificial potential field based on the aircraft, the target point and the obstacle target to obtain a forward force of the aircraft;
[0010] Obtaining an optimal trajectory for the aircraft to reach the target point based on the forward combined force;
[0011] Based on the optimal trajectory, continuous coordinate points are obtained to form a coordinate point set;
[0012] Marking the first coordinate point in the coordinate point set as the optimal point;
[0013] Determine whether there is the obstacle target between the optimal point and the adjacent coordinate point;
[0014] If yes, then update the adjacent coordinate point mark to the optimal point and continue to judge;
[0015] Otherwise, determining whether the obstacle target exists between the optimal point and the next adjacent coordinate point;
[0016] The above judgment process is repeated until all the coordinate points are judged, and the optimal points of all the marks are connected to obtain the global shortest trajectory.
[0017] Preferably, establishing the artificial potential field specifically includes:
[0018] Establishing a gravitational potential field based on the aircraft, the adjustment factor and the target point;
[0019] Establishing a repulsive potential field based on the aircraft, the adjustment factor and the obstacle target;
[0020] The gravitational potential field and the repulsive potential field together constitute the artificial potential field.
[0021] Preferably, the method for obtaining the forward combined force is:
[0022] Acquire the gravitational force generated by the target point on the aircraft based on the gravitational potential field, wherein the gravitational force guides the aircraft to move toward the target point;
[0023] Acquire the repulsive force generated by the obstacle target on the aircraft based on the repulsive potential field, wherein the repulsive force repels the aircraft from approaching the obstacle target;
[0024] The forward force is obtained by adding the attractive force and the repulsive force.
[0025] Preferably, the gravity calculation method is:
[0026]
[0027] Among them, F att represents gravity, ξ represents the gravitational gain coefficient, ρ g (q) represents the Euclidean distance from the aircraft position to the target point, represents the adjustment factor, and X represents the minimum distance from the aircraft to the target point.
[0028] Preferably, the repulsive force calculation method is:
[0029]
[0030] Among them, F reprepresents repulsion, η represents the repulsion gain coefficient, ρ(q) represents the minimum distance from the obstacle target's influence area to the aircraft position, and ρ0 represents the influence distance of the obstacle target.
[0031] Preferably, the obstacle targets include: sudden weather changes, other aircraft, strike threats, electromagnetic interference, air currents and ground obstacles.
[0032] Preferably, the adjustment factor is set based on the current flight performance of the aircraft and is used to determine the best time for the aircraft to avoid the obstacle target.
[0033] Preferably, it also includes:
[0034] The global shortest trajectory is smoothed based on a smooth function to obtain a smooth and coherent global shortest trajectory.
[0035] Preferably, the smooth function is:
[0036]
[0037] Where s represents the turning point of the global shortest trajectory, s1 represents the coordinate vector of the end point of the smoothing interval, and s2 represents the coordinate vector of the starting point of the smoothing interval.
[0038] The aircraft obstacle avoidance shortest trajectory planning system based on the improved artificial potential field method includes: obstacle detection module, resultant force acquisition module, trajectory generation module, coordinate point set generation module, optimal point judgment module and shortest path generation module;
[0039] The obstacle detection module is used to detect obstacle targets in real time when the aircraft reaches the target point;
[0040] The resultant force acquisition module is used to set the adjustment factor and establish an artificial potential field based on the aircraft, the target point and the obstacle target to obtain the forward resultant force of the aircraft;
[0041] The trajectory generation module is used to obtain the optimal trajectory of the aircraft to reach the target point based on the forward force;
[0042] The coordinate point set generation module is used to obtain continuous coordinate points to form a coordinate point set based on the optimal trajectory;
[0043] The optimal point judgment module is used to mark the first coordinate point in the coordinate point set as the optimal point; judge whether the obstacle target exists between the optimal point and the adjacent coordinate point; if so, update the adjacent coordinate point mark to the optimal point and continue to judge; otherwise, judge whether the obstacle target exists between the optimal point and the next adjacent coordinate point;
[0044] The shortest path generation module is used to repeat the above judgment process until all the coordinate points are judged and all the marked optimal points are connected to obtain the global shortest trajectory.
[0045] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a method and system for aircraft obstacle avoidance shortest trajectory planning based on an improved artificial potential field method, which has the following beneficial effects:
[0046] 1. The present invention uses artificial potential field (APF) to simulate the gravitational and repulsive forces between targets and obstacles in a physical force field to achieve dynamic planning and real-time adjustment of the flight path. It can calculate and plan the flight path in real time, assist pilots to effectively avoid dynamic obstacles around them, and improve the safety of the flight path.
[0047] 2. The present invention can process environmental changes around the aircraft in real time, quickly respond to sudden obstacles, automatically adjust the flight path, reduce the pilot's decision-making pressure, and improve flight safety.
[0048] 3. The present invention refines the alternative routes into multiple continuous coordinate points, and determines the obstacles between the coordinate points to obtain multiple optimal points, which can find the best time point to avoid obstacles and obtain the global shortest path, thereby improving the efficiency of task completion; by introducing adjustment factors, the adaptability of the method to the irregular movement of obstacles and targets is greatly improved, effectively improving the execution efficiency of flight missions.
[0049] 4. The present invention accurately calculates and improves the flight path based on the improved artificial potential field method, avoids obstacles while ensuring that the aircraft flies toward the target point, and increases the probability of successful flight missions. It can also be applied to different types of aircraft (such as fighters, transport aircraft, drones, etc.), and can work in conjunction with other flight assistance systems (such as automatic driving, air traffic management, etc.) to improve the overall performance and adaptability of the system. It is not only suitable for conventional flight missions, but also can cope with flight needs in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS
[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.
[0051] Figure 1 A flow chart of the aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method provided by the present invention.
[0052] Figure 2 A schematic diagram of the turning points of the path formed by the aircraft performing obstacle avoidance provided by the present invention.
[0053] Figure 3 This is a schematic diagram of the turning points of the smoothed path provided by the present invention.
[0054] Figure 4 This is a schematic diagram of the optimal trajectory provided by the present invention.
[0055] Figure 5 The present invention provides a structural schematic diagram of an aircraft obstacle avoidance shortest trajectory planning system based on an improved artificial potential field method.
[0056] Figure 6 This is a structural block diagram of the computer device provided by the present invention. DETAILED DESCRIPTION
[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0058] Example 1
[0059] like Figure 1 As shown, the embodiment of the present invention discloses a method for planning the shortest trajectory for aircraft obstacle avoidance based on an improved artificial potential field method, comprising:
[0060] Real-time detection of obstacles when the aircraft reaches the target point;
[0061] Set the adjustment factor and establish an artificial potential field based on the aircraft, target point and obstacle target to obtain the forward force of the aircraft;
[0062] Based on the forward force, the optimal trajectory of the aircraft to reach the target point is obtained;
[0063] Based on the optimal trajectory, continuous coordinate points are obtained to form a coordinate point set;
[0064] The first coordinate point in the coordinate point set is marked as the optimal point;
[0065] Determine whether there is an obstacle target between the optimal point and the adjacent coordinate points;
[0066] If yes, update the adjacent coordinate point mark to the optimal point and continue to judge;
[0067] Otherwise, determine whether there is an obstacle target between the optimal point and the next adjacent coordinate point;
[0068] Repeat the above judgment process until all coordinate points are judged, and the optimal points of all marks are connected to obtain the global shortest trajectory.
[0069] Example 2
[0070] The embodiment of the present invention discloses a method for planning the shortest trajectory for aircraft obstacle avoidance based on an improved artificial potential field method, comprising:
[0071] Real-time detection of obstacles during the aircraft's journey to the target point.
[0072] Preferably, this embodiment detects dynamic obstacle targets around the aircraft in real time through radar, laser radar (LIDAR), optical sensors and meteorological sensors. The sensors collect data about the environment around the aircraft, including the relative position of other aircraft, airflow, wind speed, ground obstacles and other information.
[0073] Preferably, obstacle targets include: sudden weather changes, other aircraft, strike threats, electromagnetic interference, air currents and ground obstacles.
[0074] Preferably, dynamic and static obstacle targets around the aircraft are identified and tracked through algorithm processing and environmental analysis, and the distance and relative motion state between the aircraft and each obstacle are obtained through real-time monitoring of the aircraft position, obstacle position, speed and direction.
[0075] The adjustment factor is set and an artificial potential field is established based on the aircraft, target point and obstacle target to obtain the forward force of the aircraft.
[0076] Preferably, establishing the artificial potential field specifically includes:
[0077] Establish a gravitational potential field based on the aircraft, adjustment factors and target points;
[0078] Establish a repulsive potential field based on the aircraft, adjustment factors and obstacle targets;
[0079] The gravitational potential field and the repulsive potential field together constitute the artificial potential field.
[0080] Preferably, the artificial potential field method guides the path planning of the aircraft by generating various force fields (such as attractive and repulsive forces) according to the real-time information of the obstacle target.
[0081] Preferably, the method for obtaining the forward combined force is:
[0082] Based on the gravitational potential field, the gravitational force generated by the target point on the aircraft is obtained, and the gravitational force guides the aircraft to move toward the target point;
[0083] Based on the repulsive potential field, the repulsive force generated by the obstacle target on the aircraft is obtained, and the repulsive force repels the aircraft from approaching the obstacle target;
[0084] The forward force is obtained by adding the gravitational force and the repulsive force.
[0085] Preferably, the target point (such as an airdrop point, a target airport, etc.) is regarded as an attraction source, and the flight path of the aircraft is affected by the gravity of the target point, guiding the aircraft to move toward the target point.
[0086] Preferably, the gravity calculation method is:
[0087]
[0088] Among them, F att represents gravity, ξ represents the gravitational gain coefficient, ρ g (q) represents the Euclidean distance from the aircraft position to the target point, represents the adjustment factor, and X represents the minimum distance from the aircraft to the target point.
[0089] Preferably, the surrounding obstacle targets are regarded as repulsion sources, and repulsion is generated by calculating the relative position, size and movement speed of the obstacle targets and the aircraft, so that the aircraft avoids the obstacles.
[0090] Preferably, the repulsive force calculation method is:
[0091]
[0092] Among them, F rep represents repulsion, η represents the repulsion gain coefficient, ρ(q) represents the minimum distance from the obstacle target's influence area to the aircraft position, and ρ0 represents the influence distance of the obstacle target.
[0093] Preferably, the adjustment factor is set based on the current flight performance of the aircraft to determine the best time for the aircraft to avoid the obstacle target.
[0094] Based on the forward force, the optimal trajectory of the aircraft to reach the target point is obtained.
[0095] Preferably, the forward force obtained by adding the gravitational force and the repulsive force is used to guide the movement of the aircraft, and the optimal trajectory of the aircraft is generated as the optimal trajectory.
[0096] Preferably, the forward force F = F att +F rep .
[0097] Preferably, the forward force exerted on the aircraft at each point on the path is equal to the sum of all repulsive forces and gravitational forces at that point, and the forward force determines the final direction of motion of the aircraft.
[0098] Preferably, in view of the specific characteristics of the route planning for the delivery of emergency relief materials, the material delivery route process of the aircraft is mapped to a Cartesian two-dimensional coordinate system, and the movement process of the aircraft continuously moving toward the target point can be regarded as a movement in a virtual artificial potential field. The artificial potential field includes a gravitational potential field and a repulsive potential field, in which the target point exerts a gravitational force on the aircraft, guiding it to move toward the target point; obstacles exert a repulsive force on the aircraft to avoid collision with it. The forward resultant force on the aircraft at each point on the path is equal to the sum of all the repulsive and gravitational forces at this point, and the forward resultant force determines the final direction of movement of the aircraft. Therefore, the core of the artificial potential field method lies in how to construct a gravitational potential field and a repulsive potential field so that the final movement route can effectively avoid possible obstacles.
[0099] Based on the optimal trajectory, continuous coordinate points are obtained to form a coordinate point set.
[0100] Preferably, the optimal trajectory is refined to generate a plurality of continuous coordinate points to form a coordinate point set.
[0101] The first coordinate point in the coordinate point set is marked as the optimal point.
[0102] Determine whether there is an obstacle target between the optimal point and the adjacent coordinate points.
[0103] If yes, update the adjacent coordinate point mark to the optimal point and continue to judge;
[0104] Preferably, after the adjacent coordinate point, i.e., the second coordinate point, is marked and updated to the optimal point, it is determined based on the second coordinate point whether there is an obstacle target between it and the third coordinate point. If so, the third coordinate point is marked and updated to the optimal point, and the fourth coordinate point is determined. Otherwise, it is determined based on the second coordinate point whether there is an obstacle target between it and the fourth coordinate point.
[0105] Preferably, after the second coordinate point is marked as the optimal point, the first coordinate point marked as the optimal point is placed in the optimal point set.
[0106] Otherwise, determine whether there is an obstacle target between the optimal point and the next adjacent coordinate point.
[0107] Preferably, the next adjacent coordinate point is the third coordinate point. If yes, the third coordinate point mark is updated to the optimal point, and at the same time, it is determined whether there is an obstacle target between the third coordinate point and the fourth coordinate point. If yes, the above judgment process is repeated; otherwise, it is determined whether there is an obstacle target between the optimal point and the fourth coordinate point, and the above judgment process is repeated.
[0108] Repeat the above judgment process until all coordinate points are judged, and the optimal points of all marks are connected to obtain the global shortest trajectory.
[0109] Preferably, each time a new coordinate point is marked and updated as an optimal point, the coordinate point corresponding to the optimal point marked before the update is put into the optimal point set.
[0110] Preferably, the global shortest trajectory obtained by connecting all optimal points is prone to the problem of extremely fast reversal. To avoid this problem, the present invention smoothes the global shortest trajectory based on a smooth function to obtain a smooth and coherent global shortest trajectory.
[0111] Preferably, the smooth function is:
[0112]
[0113] Where s represents the turning point of the global shortest trajectory, s1 represents the coordinate vector of the end point of the smoothing interval, and s2 represents the coordinate vector of the starting point of the smoothing interval.
[0114] Preferably, the present invention dynamically adjusts the avoidance strategy of the aircraft by comprehensively considering the interaction of multiple obstacles to ensure that the aircraft can avoid multiple obstacles at the same time without deviating from the mission objective.
[0115] Preferably, Figure 2 As shown, the present invention will avoid obstacles when an obstacle target is found at a certain coordinate point, forming a path turning point. The simulation results displayed after smoothing are as follows Figure 3 As shown in the figure, after smoothing, the smoothness of the curve is improved.
[0116] Preferably, Figure 4 As shown, the optimal trajectory of the aircraft is obtained by real-time planning after identifying obstacle targets based on the method of the present invention, wherein the purple curve is the optimal trajectory and the red area is the obstacle target.
[0117] Example 3
[0118] like Figure 5 As shown, the aircraft obstacle avoidance shortest trajectory planning system based on the improved artificial potential field method includes: an obstacle detection module, a resultant force acquisition module, a trajectory generation module, a coordinate point set generation module, an optimal point judgment module and a shortest path generation module;
[0119] Obstacle detection module, used to detect obstacles in real time when the aircraft reaches the target point;
[0120] The resultant force acquisition module is used to set the adjustment factor and establish an artificial potential field based on the aircraft, the target point and the obstacle target to obtain the forward resultant force of the aircraft;
[0121] A trajectory generation module, used to obtain the optimal trajectory of the aircraft to reach the target point based on the forward force;
[0122] A coordinate point set generation module, used to obtain continuous coordinate points to form a coordinate point set based on the optimal trajectory;
[0123] The optimal point judgment module is used to mark the first coordinate point in the coordinate point set as the optimal point; judge whether there is an obstacle target between the optimal point and the adjacent coordinate point; if so, update the adjacent coordinate point mark to the optimal point and continue to judge; otherwise, judge whether there is an obstacle target between the optimal point and the next adjacent coordinate point;
[0124] The shortest path generation module is used to repeat the above judgment process until all coordinate points are judged, and the optimal points of all marks are connected to obtain the global shortest trajectory.
[0125] Preferably, the functions implemented by each module in this embodiment correspond one-to-one to the above method, and will not be described one by one here.
[0126] Example 4
[0127] Based on the same inventive concept, the present invention also provides a computer device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;
[0128] Memory, used to store computer programs;
[0129] The processor, when used to execute the program stored in the memory, can implement the aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method as in Example 1 or 2.
[0130] like Figure 6 As shown, the electronic device may include: a processor 41, a communication interface 42, a memory 43 and a communication bus 44, wherein the processor 41, the communication interface 42 and the memory 43 communicate with each other via the communication bus 44. The processor 41 may call the logic instructions in the memory 43 to execute the aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method in Embodiment 1 or 2.
[0131] In addition, the logic instructions in the above-mentioned memory 43 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.
[0132] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a method and system for aircraft obstacle avoidance shortest trajectory planning based on an improved artificial potential field method, which has the following beneficial effects:
[0133] 1. The present invention uses artificial potential field (APF) to simulate the gravitational and repulsive forces between targets and obstacles in a physical force field to achieve dynamic planning and real-time adjustment of the flight path. It can calculate and plan the flight path in real time, assist pilots to effectively avoid dynamic obstacles around them, and improve the safety of the flight path.
[0134] 2. The present invention can process environmental changes around the aircraft in real time, quickly respond to sudden obstacles, automatically adjust the flight path, reduce the pilot's decision-making pressure, and improve flight safety.
[0135] 3. The present invention refines the alternative routes into multiple continuous coordinate points, and determines the obstacles between the coordinate points to obtain multiple optimal points, which can find the best time point to avoid obstacles and obtain the global shortest path, thereby improving the efficiency of task completion; by introducing adjustment factors, the adaptability of the method to the irregular movement of obstacles and targets is greatly improved, effectively improving the execution efficiency of flight missions.
[0136] 4. The present invention accurately calculates and improves the flight path based on the improved artificial potential field method, avoids obstacles while ensuring that the aircraft flies toward the target point, and increases the probability of successful flight missions. It can also be applied to different types of aircraft (such as fighters, transport aircraft, drones, etc.), and can work in conjunction with other flight assistance systems (such as automatic driving, air traffic management, etc.) to improve the overall performance and adaptability of the system. It is not only suitable for conventional flight missions, but also can cope with flight needs in complex environments.
[0137] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.
[0138] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. The shortest trajectory planning method for aircraft obstacle avoidance based on the improved artificial potential field method is characterized by: include: Real-time detection of obstacles when the aircraft reaches the target point; Setting an adjustment factor and establishing an artificial potential field based on the aircraft, the target point and the obstacle target to obtain a forward force of the aircraft; Obtaining an optimal trajectory for the aircraft to reach the target point based on the forward combined force; Based on the optimal trajectory, continuous coordinate points are obtained to form a coordinate point set; Marking the first coordinate point in the coordinate point set as the optimal point; Determine whether there is the obstacle target between the optimal point and the adjacent coordinate point; If yes, then update the adjacent coordinate point mark to the optimal point and continue to judge; Otherwise, determining whether the obstacle target exists between the optimal point and the next adjacent coordinate point; The above judgment process is repeated until all the coordinate points are judged, and the optimal points of all the marks are connected to obtain the global shortest trajectory.
2. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 1 is characterized in that: Establishing an artificial potential field specifically includes: Establishing a gravitational potential field based on the aircraft, the adjustment factor and the target point; Establishing a repulsive potential field based on the aircraft, the adjustment factor and the obstacle target; The gravitational potential field and the repulsive potential field together constitute the artificial potential field.
3. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 2 is characterized in that: The forward force acquisition method is: Acquire the gravitational force generated by the target point on the aircraft based on the gravitational potential field, wherein the gravitational force guides the aircraft to move toward the target point; Acquire the repulsive force generated by the obstacle target on the aircraft based on the repulsive potential field, wherein the repulsive force repels the aircraft from approaching the obstacle target; The forward force is obtained by adding the attractive force and the repulsive force.
4. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 3 is characterized in that: The gravity calculation method is: Among them, F att represents gravity, ξ represents the gravitational gain coefficient, ρ g (q) represents the Euclidean distance from the aircraft position to the target point, represents the adjustment factor, and X represents the minimum distance from the aircraft to the target point.
5. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 4 is characterized in that: The repulsive force calculation method is: Among them, F rep represents repulsion, η represents the repulsion gain coefficient, ρ(q) represents the minimum distance from the obstacle target's influence area to the aircraft position, and ρ0 represents the influence distance of the obstacle target.
6. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 1 is characterized in that: The obstacle targets include: sudden weather changes, other aircraft, attack threats, electromagnetic interference, air currents and ground obstacles.
7. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 1 is characterized in that: The adjustment factor is set based on the current flight performance of the aircraft and is used to determine the best time for the aircraft to avoid the obstacle target.
8. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 1 is characterized in that: Also includes: The global shortest trajectory is smoothed based on a smooth function to obtain a smooth and coherent global shortest trajectory.
9. The aircraft obstacle avoidance shortest trajectory planning method based on the improved artificial potential field method according to claim 8, characterized in that: The smooth function is: Where s represents the turning point of the global shortest trajectory, s1 represents the coordinate vector of the end point of the smoothing interval, and s2 represents the coordinate vector of the starting point of the smoothing interval.
10. An aircraft obstacle avoidance shortest trajectory planning system based on an improved artificial potential field method, applied to an aircraft obstacle avoidance shortest trajectory planning method based on an improved artificial potential field method as claimed in any one of claims 1 to 9, characterized in that: include: Obstacle detection module, combined force acquisition module, trajectory generation module, coordinate point set generation module, optimal point judgment module and shortest path generation module; The obstacle detection module is used to detect obstacle targets in real time when the aircraft reaches the target point; The resultant force acquisition module is used to set the adjustment factor and establish an artificial potential field based on the aircraft, the target point and the obstacle target to obtain the forward resultant force of the aircraft; The trajectory generation module is used to obtain the optimal trajectory of the aircraft to reach the target point based on the forward force; The coordinate point set generation module is used to obtain continuous coordinate points to form a coordinate point set based on the optimal trajectory; The optimal point judgment module is used to mark the first coordinate point in the coordinate point set as the optimal point; and judge whether there is the obstacle target between the optimal point and the adjacent coordinate point; If yes, then update the adjacent coordinate point mark to the optimal point and continue to judge; otherwise, judge whether there is the obstacle target between the optimal point and the next adjacent coordinate point; The shortest path generation module is used to repeat the above judgment process until all the coordinate points are judged and all the marked optimal points are connected to obtain the global shortest trajectory.