基于人工势场法的无人机群航路自主规划

为实现无人机编队在指定空域完成从起始点到目标点间的自主路径规划，且机群在该过程中具有良好的 协同性和执行高效性，提出了一种无人机群航路自主规划的方法并进行仿真。分析了机群个体的规划路径点及其特 点，并通过建立的数学评价体系对以上路径进行优劣性评估。仿真及评估结果表明：该方案是正确和有效的，并能 对传统规划方案存在的固有缺陷进行较好的修正，更利于现实中无人机群的实现。

Autonomous Route Planning of UAV Group Based on Artificial Potential Fields

In order to solve the problem that the UAV group can achieve autonomous route planning in designated airspace from the starting point to the target, moreover the system complete the task with the high level of synergy and efficiency, a new method of autonomous route planning of UAV group was presented. Analyze moving track points of the group and its characteristics, and estimate all the tracks by using established mathematical estimation model. The result of simulation and estimate reveal the method is correct and effective, moreover it optimize the conventional method of route planning with inherent defects, which is beneficial to the realization of UAV group in reality.