摘要
为有效解决直升机电力巡线工程中障碍物规避问题,提出一种结合改进势场法和圆域样条曲线的航路规划方法.建立了一种新型人工势场函数,按照势场下降的方向进行直升机飞行路径的搜索,然后利用圆域样条曲线对搜索路径进行修正和平滑.实验证明,该航路规划方法在障碍物规避问题上性能有明显提高.
In this paper, the path-planning problem for unmanned air vehicles was considered. We introduced a new potential function for path planning that has the remarkable feature based on B-Spline curve and new potential-field algorithm. We proved that the gradient vector of the potential could be used to search the path for unmanned air vehicles. Then we used B-Spline curve to revise and smooth the searching path. This new method makes great progress in moving amongst stationary obstacles situations.
出处
《山东理工大学学报（自然科学版）》
CAS
2012年第4期72-75,共4页
Journal of Shandong University of Technology:Natural Science Edition
关键词
航路规划
人工势场
样条
可行路径搜索
path planning
new potential-field
B-spline curve
searching in the feasible region.
