改进人工势场法的四旋翼路径跟随能力研究

为了提高四旋翼无人机航线任务飞行中的路径跟随能力和抗干扰能力,设计了一种基于改进人工势场法的路径跟随算法,该算法针对目前的人工势场法只能逼近目标点和避开障碍点、没有一个很好的路径跟随能力的缺点,通过增加目标航线上的点对无人机的吸引力来驱使无人机在逼近目标航点的同时能较好地跟随航线。构建了四旋翼无人机控制算法仿真,通过仿真无人机在飞航线的多种情况证明,所设计的路径跟随算法具有很强的抗干扰能力以及较高的控制效率。

Research on Quad-rotor Path Following Based on Improved Artificial Potential Field Method

In order to improve the path following ability and anti-jamming ability of rotary wing UAV during flight mission,a path following algorithm based on improved artificial potential field method is designed.The algorithm can only approach the target point and avoid the current artificial potential field method.The problem of opening obstacles without a good path following ability is to increase the attraction of the points on the target route to the drone to drive the drone to follow the route better while approaching the target waypoint.A four-rotor UAV algorithm control simulation is constructed.After simulating various situations of the UAV flying route,it is proved that the designed path following algorithm has strong anti-interference ability and high control efficiency.