无人机避障方法研究综述

Review on UAV obstacle avoidance methods

复杂作战环境中障碍物会给无人机飞行带来威胁,严重情况下甚至会导致无人机作战任务失败,因此具备高效的避障能力是无人机安全完成飞行任务的重要保障。首先针对无人机避障方法的研究现状进行了梳理,然后将无人机避障算法分为全局规划避障和局部规划避障两大类,对其中典型的算法进行了简单介绍和理论推导,最后根据作战需求对无人机避障算法未来的研究方向进行了展望。

Obstacles in complex combat environment will bring a certain threat to UAV flight,and even lead to the failure of UAV combat mission in serious cases.Therefore,having efficient obstacle avoidance ability is an important guarantee for the safe completion of UAV flight mission.This paper analyzed the present status of study of UAV obstacle avoidance method,UAV obstacle avoidance algorithm and then divided into global planning and obstacle avoidance and local planning of two kinds of obstacle avoidance.The typical algorithm to carry on the simple introduction and theoretical derivation,according to the operational requirements of UAV obstacle avoidance algorithm research and development in the future,was prospected.