基于改进人工势场模型的无人机局部避障方法分析

Analysis of UAV Local Obstacle Avoidance Method Based on Improved Artificial Potential Field Model

阐述在避障处理中,通过构建受无人机和空域障碍物相对运动速度影响的辅助斥力,促进无人机避障效率的显著提升。无人机在运行中,按照不同的步长进行先后起动,能够保持相对速度稳定性,避免无人机规划路线重复导致的碰撞问题。通过对于相关障碍物信息的分析,改进人工势场计算,可以生成防碰撞指令,构建含防碰撞的算法,对无人机飞行控制器系统进行控制,确保编队有效,从而促进无人机局部故障问题有效解决。

This paper describes that in obstacle avoidance processing,the UAV obstacle avoidance efficiency can be significantly improved by constructing an auxiliary repulsion force affected by the relative motion speed of UAV and obstacles in airspace.During the operation of the UAV,it starts successively according to different steps,which can maintain the relative speed stability and avoid the collision problem caused by the repeated route planning of the UAV.By analyzing the relevant obstacle information and improving the artificial potential field calculation,the anti-collision command can be generated,the anti-collision algorithm can be constructed,and the UAV flight controller system can be controlled to ensure the formation is effective,so as to promote the effective solution of UAV local fault problems.