关键词: 城市交通, 路径规划, 速度障碍-人工势场法, 电动垂直起降飞行器, 低空经济

Abstract: Existing path planning algorithms for electric vertical take-off and landing aircraft predominantly use global static planning, and have difficulties to respond in real-time to dynamic obstacles (such as other aircraft, birds, or airborne debris) within complex low-altitude environments. This limitation impedes their real-time obstacle avoidance capabilities. This paper integrates the velocity obstacle method with the artificial potential field approach to develop an obstacle avoidance path planning algorithm for electric vertical take-off and landing aircraft operating in complex three-dimensional low-altitude environments. This algorithm considers both the aircraft's dynamic constraints and the motion characteristics of obstacles during the planning process. It uses the velocity obstacle method to calculate parameters such as the relative velocity and angle between the aircraft and obstacles, thereby identifying conflict avoidance zones. Furthermore, it utilizes an artificial potential field model to dynamically adjust attraction and repulsion functions, guiding the aircraft to progressively return to its flight path. This approach achieves a unified solution for global path optimization and local obstacle avoidance. Using parts of Tianfu New Area in Chengdu city as the setting, the study conducted 1∶10 scale simulation experiments to analyze two scenarios—conventional open airspace and confined narrow spaces— under real-world geographical constraints. Additionally, a high-density obstacle scenario was established to test the algorithm's adaptability and robustness under highly complex conditions. The experimental results indicate that, in conventional open-space scenarios, the proposed algorithm reduces the number of iterations by 24.7% and shortens the path length by 19.8% compared to the velocity-obstacle method. Compared to the artificial potential field method, it reduces the number of iterations by 20.2% and shortens the path length by 30.4%. In confined spaces and high-density obstacle scenarios, the algorithm effectively overcomes the local oscillations and excessive detours commonly caused by traditional methods, and significantly reduces the cumulative yaw angle of the aircraft and improves the smoothness and physical flyability of the flight path.

Key words: urban transportation, path planning, velocity obstacle-artificial potential field method, electric vertical take-off and landing aircraft, low-altitude economy