基于滚动速度障碍法的无人机山地航测避障路径规划研究

Research on Obstacle Avoidance Path Planning for UAV Aerial Survey in Mountainous Areas Based on Rolling Speed Obstacle Method

无人机在进行山地航测时,经常遭遇鸟类等动态障碍,若不能及时规避掉障碍,极容易发生坠机事故;为此,研究一种基于滚动速度障碍法的无人机山地航测避障路径规划方法;基于山地环境模型,结合飞行路径长度、路径平滑度建立一个综合目标函数并利用改进布谷鸟搜索算法求解,得到无人机山地航测的初始路径;对图像进行预处理后,识别无人机初始路径飞行过程中遇到的障碍物,并通过超声波测量无人机与障碍物之间的距离,以此建立速度障碍模型,实现速度障碍碰撞分析,通过滚动窗口的方式确定无人机与障碍物是否存在飞行冲突;基于滚动速度障碍避障方法实现滚动角度避障和速度避障,获取最终的优化路径,完成基于滚动速度障碍法的无人机山地航测避障路径规划;测试结果表明:航测避障路径长度为571.45 m,平滑度为165.52,规划的方案更具合理性。

During aerial surveying in mountainous areas,unmanned aerial vehicles(UAVs)often encounter dynamic obstacles such as birds.If obstacles are not avoided in a timely manner,it is easy to lead to accidents and potential crashes.Therefore,a UAV mountain aerial survey obstacle avoidance path planning method based on the rolling velocity obstacle approach is developed.Based on the mountain environment model,a comprehensive objective function is established by considering the flight path length and path smoothness.An improved Cuckoo search algorithm is employed to achieve the initial path for the UAV mountain aerial survey.The images are preprocessed to identify the obstacles encountered during the UAV s initial path flight.The ultrasonic measurements are used to estimate the distance between the UAV and obstacles,the velocity obstacle model is established to analyze the potential collisions.The rolling window approach is utilized to determine whether there is any flight conflict between the UAV and obstacles.The rolling velocity obstacle method is used to realize the obstacle avoidance of rolling angle and velocity,resulting in an optimized path for the UAV,the obstacle avoidance path planning for UAV mountainous aerial survey based on the rolling velocity obstacle method.Testing results indicate that the obstacle avoidance path length for aerial surveying is 571.45 m,with a smoothness measurement of 165.52,this planning approach demonstrates more reasonable.