General Aviation Path Planning Based on Improved Artificial Potential Field Method
In the course of flight,general aviation aircraft not only have to face the threat of obstacles and weather systems,but also limited by the flight airspace,the aircraft often can only fly in a fixed airspace or a narrow flight corridor,once it flies out of the restricted airspace,it may lead to flight conflicts,or even serious safety accidents.In order to solve these problems,the relative distance function between the air-craft and the target point is added to the repulsive potential field function of the artificial potential field method.Firstly,the problems of target unreachability and local minima existing in the traditional artificial potential field method are solved.Then,the influence factor of the repulsion force of the route boundary is added to the algorithm to make the aircraft return to the center of the route under the action of the bound-ary repulsion force after avoiding obstacles.Verified by MATLAB simulation,the experimental results show that the improved artificial potential field method can realize active obstacle avoidance and aircraft path planning.
artificial potential field methodroute boundary repulsionrelative distance functiontarget unreachabilitylocal minima
万方数据
维普
