摘要
针对现有避障算法忽略重规划路径侵犯威胁障碍物安全圆的问题,提出了一种基于Pythagorean Hodograph(PH)螺线修正避障重规划路径的方法。该方法能够考虑无人飞行器路径规划的相关性能约束,且较其他路径修正算法复杂度较低、实时性高,能够满足UAV在线规避动静态障碍物的要求。仿真结果验证了该方法的有效性和可行性。
For the problem of existing obstacle avoidance algorithms,which ignores that the re-planning path violates threatening obstacle safety circle. A re-planning path correction method for collision avoidance based on Pythagorean Hodograph（ PH） spiral was proposed. The related constraints of UAV path planning were considered in this method,and comparing to other correction algorithms,it had low complexity and high real-time performance,which can meet the requirements that UAV online avoided the dynamic and static obstacles. The simulation results show the practicality and efficiency of the re-planning path correction method for collision avoidance based on PH spiral.
出处
《飞行力学》
CSCD
北大核心
2016年第5期86-90,共5页
Flight Dynamics
基金
航空科学基金资助(20135584010)
