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A new path planning approach based on artificial electric potential energy

He Renke ; Air Force Engineering University, No.1, Baling Road, Baqiao District, Xi’an City
Wei Ruixuan ; Air Force Engineering University, No.1, Baling Road, Baqiao District, Xi’an City
Zhang Qirui ; Air Force Engineering University, No.1, Baling Road, Baqiao District, Xi’an City
Xu Zhuofan ; Air Force Engineering University, No.1, Baling Road, Baqiao District, Xi’an City


Puni tekst: engleski PDF 2.347 Kb

str. 239-248

preuzimanja: 217

citiraj


Sažetak

Path planning is one of the most fundamental desired autonomous navigation capabilities for aircrafts. A sensible environment modeling method plays a significant role in improving the path planning algorithm, and the electric potential principle has a unique advantage in this regard. Due to the random node generation of the sampling-based algorithm, it is difficult to generate an optimum path. In the integration of electric potential cost function and probability function, the calculation has approved that there is a negative correlation between the path cost value and probability value, that is, the lower the cost value, the higher the probability that the path nodes is to be selected. Meanwhile, the electric potential value of the entire path is also used to evaluate the safety of an entire route. The simulation results depict that, compared with other traditional methods, the algorithm proposed in this article has distinctive superiority in raising and enhancing computational efficiency and path safety.

Ključne riječi

aerial vehicle, path planning, artificial electric potential energy, probability selection, path security

Hrčak ID:

165661

URI

https://hrcak.srce.hr/165661

Posjeta: 382 *