Research on Artificial Potential Field Route Planning Method Based on Threat Level Assessment
Xiao Wang, Enmi Yong, Kaifeng He, Tao Liu, Chenzhou Xu, Fengqi Zheng, Shenshen Liu · 2021
This paper first studies the uncertain probabilistic inference model based on Bayesian networks, constructs a threat level evaluation algorithm, and combines fuzzy inference technology to evaluate the relative threat levels of different threat sources in the battlefield environment. Then the threat level assessment is combined with the path planning method, the two-dimensional Gaussian probability density function is used to model each threat source, and the artificial potential field method is combined to establish a UAV trajectory planning method based on threat situation assessment. Finally, simulations verify the effectiveness of the proposed method.