基于优化的电势理论规划三维飞行路径

利用优化的电势理论进行飞行器三维航迹规划。对电势理论进行了优化,使其既能回避雷达、火力威胁,又能有效地回避地形威胁,使规划出的三维航迹具有一定的实用性。根据突防任务的需要,确定地形威胁与雷达、火力威胁的权重,并将模拟地形的高程数据与雷达、火力威胁按各自的权重叠加得到综合威胁电场;通过限定位于起始点和目标点之间的搜索范围,并对搜索条件进行改进,保证飞行路径最终能收敛于目标点;最后,用坡度限制平滑算法、曲率限制平滑算法对航迹进行法向加速度和曲率限制使其符合飞行器机动性能和可飞性要求。仿真结果表明,优化的电势理论可以进一步考虑地形威胁,而且在能够考虑目标点附近的各种威胁,提高了该方法的实用性,还能缩短航线规划的时间。

3D flight path planning based on optimized potential field theory

An improved potential field theory was used to plan three dimensional paths for airplane. The potential field theory was optimized with the aim of effectively evading not only radar threat and fire threat, but also terrain threat, which made three dimensional flight path planning have certain practicality. Simulated terrain elevation data was overlapped with radar threat and fire threat in accordance with their weights respectively to form integrated threat electric field, and the weights of terrain threat and radar threat, fire threat were determined according to the needs of given penetration task. Through locating the search area between start point and end point, it is ensured that the final flight path can be restrained on end point; at last, the above paths were smoothed by gradient smooth algorithm and curvature smoothing limitation algorithm on acceleration and curvature, so that the performance of paths can be in line with the requirements of maneuverability and flying. The simulation results show that the optimal potential field theory can further consider terrain threat and other threat (radar threat and/or fire threat) near end point, which improves the method's practicability, and deduces the planning time.