基于改进的速度障碍法的有人/无人机协同系统三维实时避障方法

Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method

为适应当前智能体自主化水平,同时发挥多智能体在空战中的优势,有人/无人机协同系统的作战形式逐渐成为研究热点。针对协同系统在三维空间内的实时避障问题,首先,在传统速度障碍法的基础上,建立三维机动障碍的模型;其次通过设定系统遇障时的通行法则,选择飞行模式,进而确定最佳的避障平面及航迹;最后,通过3组仿真分别校验避障平面的差异性、单机躲避机动性障碍的可行性以及协同系统整体避障的有效性。仿真结果表明,该方法能安全快速地实现有人/无人机协同系统对三维机动障碍的躲避。

To adapt the autonomous level of agents in current,and to perform the advantages of multi-agent in air combat,the form of manned/unmanned aircraft cooperative system has gradually become a hot topic.To solve the issue of three-dimensional(3D)real-time obstacle avoidance,the 3D maneuvering obstacle model is established firstly based on the traditional velocity obstacle method.Then the flight mode is selected and the optimal obstacle avoidance plane is determined by setting the Right-of-way rules when the system encountering obstacles.Finally,the difference of obstacle avoidance plane,the feasibility of avoiding maneuvering obstacle and the effectiveness of obstacle avoidance of cooperative system are verified by several flight simulations.The results show that the proposed method can realize the avoidance of 3D maneuvering obstacle for manned/unmanned aircraft cooperative system safely and efficiently.