Three-dimensional Flight Path Planning by Using an Improved Electric Potential Theory

Potential field theory is improved which enable it to avoid not only fire threats but also terrain threats,and plan practical three-dimensional track.Analog terrain elevation data matrix is overlapping on the threat of electric field according to certain weight,so that the threat field not only can reflect radar threats,fire threats and the terrain threats.Through the limiting the search field from start point to destination point which reduced the complexity of the calculation to ensure that the final flight path's convergence in the target points.At the same time,on the basis of the above route planning,flight line is found which is suitable for aircraft bound mobility with gradient smoothing restrictions algorithm and curvature limit smoothing algorithm to confine vertical acceleration and curvature of the track.