Original scientific paper
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
Abstract
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.
Keywords
aerial vehicle; path planning; artificial electric potential energy; probability selection; path security
Hrčak ID:
165661
URI
Publication date:
12.9.2016.
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