基于速度障碍法的无人机避障与航迹恢复策略

UAV obstacle avoidance and track recovery strategy based on velocity obstacle method

针对在融合空域内,面临复杂障碍物时无人机飞行冲突解脱和航迹恢复问题,在速度障碍法的基础上提出了一种几何优化方法,并对这个问题进行了严格的数学描述。首先,根据无人机与障碍物之间的相对位置和速度关系,基于航迹预推模型确定其冲突类型,以及是否满足各解脱策略的条件。然后,选取相应的解脱策略。待冲突解脱完成后,无人机恢复至原飞行航线。之后,通过几何分析与理论推导证明该模型能够有效解决飞行冲突,并且给出了具体的冲突解脱和航迹恢复的时间。最后,在仿真中,所提方法根据不同场景自主选择冲突解脱策略,结果显示该方法简单高效。

Aiming at the problem of flight conflict resolution and track recovery of unmanned aerial vehicle(UAV)with complex obstacles in the fusion airspace,a geometric optimization method based on the velocity obstacle method is proposed,and the problem is described in strict mathematics.Firstly,according to the relative position and speed relationship between the UAV and the obstacle,the conflict type is determined based on the track pre-propelling model,and whether the conditions of each resolution strategy are met is also determined.Secondly,the corresponding resolution strategy is selected.After the resolution of the conflict is completed,the UAV will resume the original flight path.Then,geometric analysis and theoretical derivation prove that the model can effectively solve the flight conflict,and give the specific time of conflict resolution and track recovery.Finally,in the simulation,the proposed method chooses the conflict resolution strategy autonomously according to different scenaries,which shows that this method is simple and efficient.