基于比例导引角度线性化的无人机避障研究

基于无人机与障碍物之间的几何关系，在极坐标系下建立了无人机与障碍物之间的运动学方程，通过引入基于角度线性化的比例导引律，使无人机能够顺利避开障碍物。引入的基于角度线性化的比例导引律是关于无人机相对速度航向角与避障点视线角的函数，由比例函数及偏差函数组成。为解决初始时刻相对速度航向角不满足引入导引律的问题，在调节函数中加入了指数项。通过稳定性证明，得到了满足要求的导引律参数取值范围。最后对设计的避障算法进行了仿真，仿真结果验证了算法的有效性。

Study on Angle Linearization of Proportional Navigation-based Collision Avoidance for UAV

Based on the geometric relationship between the UAV and the obstacles, we estublish the kinematics equations between the UAV and the obstacles in polar coordinates. By introducing a navigation law of angle linearization of proportional navigation, we design an algorithm of collision avoidance to make the UAV successfully avoid the obstacles. The angle linearization of proportional navigation law is the function of the angle of the relative velocity of the UAV with the angle of the line of sight of the obstacle avoidance point, which is composed of the proportional function and the deviation function. To solve the problem that the angle of the relative velocity does not meet the law at the initial time, the paper adds exponential function in the deviation function. By proving the stability of the algorithm, we obtained the ranges of the parameters which meet the requirements. Finally, we make the simulation of the algorithm, and the simulation results show the effectiveness of the algorithm.