摘要
An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.
基金
This work was supported by the National Key Technology Research and Development Program of China(Nos.2015BAK01B06,2017YFB1002705,2017YFB1002601,and 2017YFB0203002)
the National Marine Public Service Project(No.201505014-3)
the National Natural Science Foundation of China(NSFC)(Nos.61472010 and 61661146002)
the Equipment Development Project(No.315050501).