针对动态障碍物的无人机最优避撞策略

Optimal Collision Avoidance Strategy for UAVs to Dynamic Obstacles

复杂动态环境下自主避障能力已成为无人机亟待解决的关键问题。针对现有避障算法通过调向或调速进行规避障碍的缺点,基于速度障碍法,提出一种同时调向与调速的混合避障策略。首先,根据速度障碍法原理,判断无人机与动态障碍物是否存在飞行冲突;然后,分别在单动态障碍物和多动态障碍物场景下,利用数学公式精确推导出无人机避障所需要调整的航向与速度大小之间的关系;最后,在目标函数的约束下,完成最优避障策略的求解。仿真结果表明,在单/多动态障碍物威胁下,所提算法具有有效性与高效性。

The autonomous obstacle avoidance capability in complex dynamic environment has become a key problem for UAVs.Aiming at the shortcomings of the existing obstacle avoidance algorithms a hybrid obstacle avoidance strategy is proposed based on the velocity obstacle method which can adjust the direction and speed at the same time.Firstly according to principle of the velocity obstacle method it is judged whether there is flight conflict between the UAV and the dynamic obstacle.Then in the cases of single dynamic obstacle and multiple dynamic obstacles the relationship between the course and speed that need to be adjusted for UAV obstacle avoidance is accurately deduced by mathematical formula.Under the constraint of objective function the optimal obstacle avoidance strategy is solved.The simulation results show that the proposed algorithm is effective and efficient under single and multiple dynamic obstacles.