考虑UAV性能约束的变速度自主避障算法研究

动态不确定环境下,为有效地提升UAV执行任务的安全性和可靠性,在UAV自主避障过程中考虑了自身的性能约束条件.在速度障碍圆弧法的基础上,考虑UAV的法向和纵向加速度约束范围,研究了速度障碍圆弧随速度矢量变化的规律,提出了一种考虑UAV性能约束的变速度自主避障算法.该算法在考虑自身性能约束条件下,为实现UAV对威胁障碍的避碰提供了更大的避碰裕度.最后,对考虑UAV性能约束的变速度自主避障算法进行了验证,仿真结果证明了算法的有效性和可行性.

Autonomous Obstacle Avoidance Algorithm Based on Variable Velocity Under Consideration of Performance Constraints of UAV

In a dynamic uncertain environment, the performance constraints of UAV are considered during autonomous obstacle avoidance process of UAV, which can effectively improve the safety and reliability of the UAV''s mission. Based on the velocity obstacle arc method, the law of velocity obstacle arc changing with different velocity is studied with consideration of the UAV''s constraints on normal and longitudinal acceleration, and an autonomous obstacle avoidance algorithm based on variable velocity consideration of performance constraints of UAV is presented, which provides greater collision margin for UAV to avoid threatening obstacles. Finally, the proposed algorithm is validated, and the simulation results demonstrate the practicality and efficiency of the algorithm.