摘要
针对无人机自动跟踪目标过程中需要规避障碍物的问题,设计一种将跟踪制导律与改进人工势场法相结合的航迹规划算法。对人工势场法进行适应性改进,建立无人机动力学模型,阐述定距离跟踪制导律的设计方法,并采取加权求和与运动学约束的方式将定距跟踪制导律与人工势场法二者结合。仿真实验结果表明:该策略具备有效性和可行性。
Aiming at the problem that UAV needs to avoid obstacles in the process of automatic target tracking,a route planning algorithm is designed,which combines tracking guidance law with improved artificial potential field method.The artificial potential field method was improved adaptively,and the dynamic model of UAV was established.The design method of the constant range tracking guidance law was described,and the constant range tracking guidance law and the artificial potential field method were combined by weighted summation and kinematic constraints.The simulation results show that the strategy is effective and feasible.
作者
陈飞鹏
张民
Chen Feipeng;Zhang Min(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《兵工自动化》
2022年第3期40-44,共5页
Ordnance Industry Automation
关键词
目标跟踪
制导律
人工势场
航迹规划
target tracking
guidance law
artificial potential field
path planning
