动态人工势场法在无人飞行器避碰飞行中的应用研究

Dynamic artifical potential field application on UAV obstacle avoidance flight

针对动态环境下无人飞行器的避碰飞行问题给出了数学描述,采用动态人工势场法,结合无人飞行器的飞行约束及真实的动态战场环境,给出了无人飞行器的避碰解决方案.设计了几种可能的战场场景进行仿真实验,包括静态障碍物环境下目标点与无人机相对运动情况以及动态障碍物环境下目标点与无人机相对运动情况,成功实现了无人飞行器的避碰飞行.

The mathematics description of UAV （Unmanned Aerial Vehicle） obstacle avoidance flight in dynamics environ- ment is given. Using dynamic artifical potential field, combing the flight constraint and the real dynamics battle environ- ment, the solution scheme of obstacle avoidance is given. Several possible battle scene are designed and tested, considering the object and the UAV has relative movemetn while the obstical is static or kinetic, which complete the obstacle avoidance flight successfully.