ABSTRACT
When chemical hazards occur, there always are smoke, toxic gases, fire, explosion and other factors on the site. To reduce casualties and increase rescue efficiency, rescue robots have been widely employed in the emergency rescue on the chemical hazard and accident sites. This paper explores the improvement methods for the problems in the traditional artificial potential field method used for the aircraft path planning. Based on the theory of traditional artificial potential field method, this paper solves the problem that the aircraft cannot reach its goal by modifying repulsion function and introducing temporary sub-goal points to realize that the aircraft can successfully reach the goal points. Simulation experiments can prove the effectiveness and practicability of the proposed methods. Compared with the international and domestic counterparts, this method is simple and flexible, which is more suitable for the aircraft path planning in reality.
