基于改进人工势场法的巡航导弹自主避障技术

A novel methodology has been developed for path planning of cruise missile. To solve the local minimum problem of traditional artificial potential field method, minima were divided into two types. The judgment theorems and criterions were given respectively, and the corresponding solutions were proposed to eliminate the local minima. Then, available overload condition was taken into consideration, and potential fields were generated by using logarithmic function to represent the goal and no-fly zones. Furthermore, operational region of repulsive forces and attractive force was set reasonably, and the parameters of potential were adjusted for purpose of avoiding collision. Under the influence of the potential fields, a flyable path is found to reach the goal. Finally, the mathematical simulation results demonstrate the effectiveness of the proposed approach.