基于速度障碍的无人机避免机动障碍物问题  

Research on Avoiding Collisions with Dynamical Obstacles for UAV Based on Velocity Obstacle

作　　者：魏健[1] 李相民[1] 代进进[1] WEI Jian;LI Xiang-min;DAI Jin-jin(Naval Aeronautical and Astronautical University,Yantai 264001,China)

机构地区：[1]海军航空工程学院,山东烟台264001

出　　处：《火力与指挥控制》2016年第8期84-87,92,共5页Fire Control & Command Control

基　　金：航空科学基金资助项目(20135184008)

摘　　要：针对无人机避免机动障碍物的问题,应用速度障碍法,在充分考虑障碍物可达范围和无人机最大机动能力的基础上,将问题空间转换到了速度空间,然后以速度障碍的边界条件替代速度障碍的整体范围约束,这样得到了速度障碍的简单表达形式。最后结合最优控制,在速度空间解决了无人机避免障碍物的问题,并直接求解出了合适的速度输出。仿真结果表明方法切实可行。In order to avoid collisions with the dynamical obstacles for UAV,the method ofvelocity obstacle is applied,taking the max dynamic of obstacles and UAV both into account.Converting the problem into velocity space,and taking the boundary condition to instead the constraintof the velocity obstacle,the simply model of the method is gotten. Running with optimal control,theproper velocity in the velocity space directly is found out. Finally,the simulation result shows that themethod of velocity obstacle is valid.

关 键 词：无人机 速度障碍法 避碰 机动障碍物 

分 类 号：V279[航空宇航科学与技术—飞行器设计]