基于改进人工势场法的无人机三维航迹规划OA

To address the issues of target unreachability and local minima in traditional artificial potential field methods for UAVs,an improved artificial potential field method is proposed.The repulsive potential field function is optimized by incorporating angle and distance factors into the conventional model,thereby preventing target unreachability caused by excessive repulsive forces.To reduce redundant paths and mitigate local minima when passing through narrow obstacles,a narrow obstacle detection function and a repulsive force attenuation factor are introduced.Finally,simulation experiments conducted on the MATLAB platform validate the proposed algorithm.The results demonstrate significant improvements in resolving the aforementioned problems and enhancing overall algorithm performance.