基于比例导引律的无人机避障研究

Study on Proportional Navigation-Based Collision Avoidance for UAV

随着无人机作战环境日益复杂,无人机避开动态障碍物的研究成为热点问题。为提高导引避障性能,借助比例导引律的思想,通过使无人机与动态障碍物的相对速度方向导引到避障向量方向,完成避障。为满足避障完成时间和无人机机动性能约束要求,给出了避障时间估计和法向加速度表达式,通过解算得到了比例导引系数取值范围。避障完成后无人机在避障点可用比例导引律进行路径规划,最后到达目标点。仿真结果验证了算法的有效性。

With the increasing complexity of combat environment which UAVs operate on, the research on the UAV to avoid dynamic obstacles has become a hot issue. With the help of the idea of proportional navigation law, we guide the direction of the relative speed of the UAV to the dynamic obstacle to the direction of collision avoidance vector to complete collision avoidance. In order to meet the completion time and the constrains of maneuver performance of UAV, this paper gives the formulations of the estimated time of collision avoidance and the normal acceleration. Then we get the range of the proportional navigation coefficient by solving the formulations. After the UAV reaching the collision avoidance point, we make path planning at the point by using the proportional navigation law and the UAV reach the target at last. Simulation results show the effectiveness of the algorithm.