一种动态不确定环境下UAV自主避障算法  

Autonomous obstacle avoidance algorithm for UAV in dynamic uncertain environment

作　　者：杨秀霞[1] 张毅[1] 周硙硙 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264001 [2]海军航空工程学院研究生管理大队,山东烟台264001

出　　处：《系统工程与电子技术》2017年第11期2546-2552,共7页Systems Engineering and Electronics

基　　金：航空科学基金(20135584010)资助课题

摘　　要：在动态不确定环境下,考虑威胁障碍物的机动性和无人飞行器(unmanned aerial vehicle,UAV)携带传感器的探测误差,可有效地提高UAV执行任务的安全性和可靠性。本文在速度障碍法的基础上,将动态不确定性通过威胁障碍速度矢量方向角的偏差进行表示,并建立了动态不确定性速度障碍模型(dynamic velocity obstacle model,DVOM);为量化动态不确定环境下威胁障碍物的影响,基于速度障碍圆弧法,给出了DVOM速度障碍圆弧法,并在此基础上,提出了一种动态不确定环境下UAV自主避障算法。最后,以Pythagorean Hodograph(PH)曲线路径规划为例对考虑动态不确定性的UAV自主避障算法进行了验证,仿真结果验证了算法的有效性和可行性。In dynamic uncertain environments, considering the mobility of threatening obstacles and the detection error of sensors that unmanned aerial vehicle （UAV） carries, the security and reliability of executing missions for UAV can be improved effectively. On the basis of the velocity obstacle method, dynamic uncertainties can be expressed by the orientation error of threatening obstacle’s velocity, and the dynamic velocity obstacle model （DVOM） also can be established. For quantifying the influence of threatening obstacles in dynamic uncertain environments, based on the velocity obstacle arc method, the DVOM velocity obstacle arc method is given. Based on this, an autonomous obstacle avoidance algorithm in dynamic uncertain environment is presented. Finally, the path planning of Pythagorean Hodograph （PH） is taken as an example to conduct simulation for UAV’s autonomous collision avoidance algorithm in dynamic uncertain environments, and simulation results demonstrate the practicality and efficiency of the algorithm.

关 键 词：不确定性 无人飞行器 速度障碍 自主避障 

分 类 号：V249[航空宇航科学与技术—飞行器设计]