Path Planning of Cross-Domain Unmanned System Based on Improved Artificial Potential Field Method
Shanqiang Zhang, Yifan Zheng, Chunyao Yang, Hao Liu · 2023
Path planning is the key technology in the entire unmanned system cooperative combat system, but most of the current research can only produce better planning results in the two-dimensional environment. The path planning in the three-dimensional environment still has low planning efficiency and poor planning results. This paper proposes an improved artificial potential field method, which is applied to the 3D environment path planning between cross-domain unmanned platforms. At the same time, it solves the shortcomings of the traditional artificial potential field method in the path planning of unmanned systems. Aiming at the problem of local minimum and unreachable target point, a new repulsion function and an adaptive repulsion parameter adjustment method are introduced, so that the unmanned platform can quickly leave the local minimum point, and the algorithm can overcome the problem of unreachable target points in the artificial potential field method. Aiming at network communication problems in engineering practice, a method of eliminating jitter and necessity detection is proposed, which eliminates redundant path points in path planning results. The experimental results prove that the improved artificial potential field method can overcome the problem of narrow channel jitter, local minimum value and target point inaccessibility, generate a smoother path, and significantly shorten the algorithm operation time.