基于凸面体圆弧航路的无人机自主避障算法

为解决无人机飞行过程中障碍物规避问题,提出一种新的三维自主避障算法.首先,根据障碍物的若干信息利用标准凸面体对不规则障碍物进行数学建模,用一个或多个标准凸面体覆盖障碍物整体或关键部分;然后,根据障碍物模型设计圆弧规避航路算法,将避障问题转化为跟踪规避航路控制问题,并定义避障判定、避障方向判断和成功避障规则;最后,结合非...

Autonomous obstacle avoidance algorithm designed for UAV based on convex circular trajectory

A new three-dimensional(3D) autonomous obstacle avoidance algorithm is proposed to solve the problem of obstacle avoidance during the flight of unmanned aerial vehicle(UAV). Firstly, the irregular obstacles are modeled by standard convex bodies according to some information of obstacles, and one or more standard convex bodies are used to cover the whole or key parts of the obstacle. Then, the arc obstacle avoidance trajectory strategy is designed according to the obstacle model, the obstacle avoidance problem is transformed into the avoidance trajectory tracking problem, and the rules of the decision and direction obstacle avoidance and the criterion of successful obstacle avoidance are defined. Finally, combined with the nonlinear guidance law and height channel control, UAV real-time three-dimensional trajectory tracking control and autonomous obstacle avoidance are realized. The nonlinear numerical simulation shows that the obstacle avoidance algorithm can effectively avoid obstacles and has high accuracy of 3D trajectory tracking, which can be applied to UAV obstacle avoidance missions.