基于L1制导法的无人机避障研究

Obstacle avoidance of UAV based on L1 guidance method

随着现代战争作战环境日益复杂,对无人机作战的航线跟踪能力和避障能力都提出了较高的要求。针对目前无人机避障过程中存在的航线偏差大等问题,提出了一种基于L1制导法的避障方法。通过构建障碍物与无人机间的几何关系,实时给出避障路径,然后利用L1制导法对避障路径进行跟踪,从而实现无人机避障的效果。最后通过仿真验证了所提方法的可行性和有效性。

With the increasing complexity of modern warfare environment,higher requirements were put forward for the course tracking ability and obstacle avoidance ability of UAV.A new obstacle avoidance method based on L1 guidance method was proposed to solve the problems of large deviation in the course of UAV obstacle avoidance.By constructing the geometric relationship between obstacles and UAV,the path of obstacle avoidance was given in real time,and then the path of obstacle avoidance was tracked by L1 guidance method,so as to achieve the effect of UAV obstacle avoidance.Finally,the feasibility and effectiveness of the proposed method were verified by simulation.