基于速度障碍圆弧法的UAV自主避障规划研究

Automatic obstacle avoidance planning for UAV based on velocity obstacle arc method

提高复杂环境下无人飞行器(unmanned aerial vehicle,UAV)自主避障能力成为亟待解决的关键问题。针对现有避障算法忽略"潜在危险"障碍的影响和对多障碍避碰复杂的问题,建立障碍物威胁分级模型,提出一种速度障碍圆弧法,该方法通过速度障碍圆弧参数量化了威胁障碍的影响。同时,给出了速度障碍圆弧参数的系统计算方法,考虑了复杂环境下UAV与威胁障碍之间不同相对位置和相对速度情况。基于速度障碍圆弧法给出相应的避碰算法。以路径规划为实例对避碰算法进行了仿真验证,仿真结果验证了算法的有效性和实用性。

Improving the capability of autonomous obstacle avoidance for unmanned aerial vehicle （UAV） in complex environment becomes the key problem to he solved urgently. Aiming at the problems that the existing algorithms of obstacle avoidance ignore ＂potential danger＂ obstaclest influence and avoid multi-obstacles compli- catedly, the threat classification model of obstacles is built and the velocity obstacle arc method is proposed, which quantifies the influence of threatening obstacles through velocity obstacle arc parameters. Meanwhile, the systematic calculation method of velocity obstacle arc parameters is given, and the differences of relative position and relative velocity between UAV and threatening obstacles are considered in complex environment. The method of collision avoidance based on the velocity obstacle arc method is given. Path planning is taken as an example to conduct simulation for the collision avoidance algorithm, and simulation results demonstrate the practicality and efficiency of the proposed method.