基于改进动态窗口法的无人机避障航迹规划

Obstacle avoidance path planning of UAV based on improved dynamic window approach

为解决无人机带运动学约束条件的避障航迹规划问题,给出了一种基于改进动态窗口法(Dynamic Window Approach, DWA)的避障方法。根据运动学关系,将无人机的位置控制转换成速度控制,并根据速度窗口来预测下一刻的可能位置,然后通过最大化目标函数来选择最优的速度作为控制输入。同时,针对动态窗口法易陷入局部最优的问题,提出了一种无需全局先验信息的改进方法,通过量化探测空间信息,判断失效环境,然后从探测空间中寻找可通行区域,并设置虚拟目标点进行规避。最后根据仿真实验和分析,证明了所提方法的有效性和可行性。

In order to solve the obstacle avoidance path planning problem of UAV with kinematic constraints, an obstacle avoidance method based on improved dynamic window approach(DWA) is proposed. According to the kinematic relationship, the position control of UAV is transformed into speed control, and the possible position in the next moment is predicted according to the speed window. Then the optimal speed is selected as the control input by maximizing the objective function. At the same time, aiming at the problem that the dynamic window method is easy to fall into local optimization, an improved method without global priori information is proposed. By quantifying the detection space information, the failure environment is judged, the passable area is found from the detection space and the virtual target point is set to avoid it. Finally, the effectiveness and feasibility of the proposed method are proved by simulation experiments and analysis.