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提高复杂环境下无人飞行器(unmanned aerial vehicle,UAV)自主避障能力成为亟待解决的关键问题。针对现有避障算法忽略“潜在危险”障碍的影响和对多障碍避碰复杂的问题,建立障碍物威胁分级模型,提出一种速度障碍圆弧法,该方法通过速度障碍圆弧参数量化了威胁障碍的影响。同时,给出了速度障碍圆弧参数的系统计算方法,考虑了复杂环境下UAV与威胁障碍之间不同相对位置和相对速度情况。基于速度障碍圆弧法给出相应的避碰算法。以路径规划为实例对避碰算法进行了仿真验证,仿真结果验证了算法的有效性和实用性。
Improving the ability of autonomous avoidance of unmanned aerial vehicles (UAVs) in complex environment has become a key issue to be solved urgently. Aiming at the problem that the existing obstacle avoidance algorithm ignores the influence of “potential danger” obstacle and the problem of multi-obstacle avoidance complex, an obstacle threat classification model is established, and a speed obstacle arc method is proposed. Through the arc parameter of speed obstacle Quantify the impact of threat disorders. At the same time, a systematic method for calculating the arc parameter of speed obstacle is given, and the relative position and relative velocity between UAV and threat obstacle in complex environment are considered. Based on the speed obstacle arc method, the corresponding collision avoidance algorithm is given. The path planning is taken as an example to verify the collision avoidance algorithm. The simulation results verify the effectiveness and practicability of the algorithm.