无人机自主避障飞行避障算法优化  

The Optmization Study on Avoidance Algorithm for UAV Autonomous Obstacle Avoidance Flight

作　　者：王敏[1] WNAG Min(School of Network Security and Informatization,Weinan Normal University,Weinan,714099,China)

机构地区：[1]渭南师范学院网络安全与信息化学院

出　　处：《网络新媒体技术》2019年第4期36-39,51,共5页Network New Media Technology

基　　金：2017年陕西省军民融合基金项目“民用无人机智能飞行系统设计”之阶段性成果,课题批准文号:陕军民融发(2016)第2号

摘　　要：提出旋转翼无人机平面自主避障算法,保证其在复杂环境下安全到达目标地,提高飞行稳定性和安全性。该算法通过一元二次方程解的方式,分析障碍威胁点,计算在发生碰撞条件下的最小碰撞时间,依据障碍物位置确定期望速度和方向。同时,分析在过载约束条件下,对仿真迭代计算中可选速度进行二等分,依据惩罚因子最小原则,确定避障速度。通过MATLAB仿真分析,平面空间避障算法可以发挥旋转翼无人机的悬停优势,实现其自主避障目的。A planar autonomous obstacle avoidance algorithm for rotary-wing UAV is proposed to ensure its safe arrival at the target in complex environment and improve flight stability and safety. The algorithm analyzes the threat point of obstacle through the solution of one element two times equation, and calculates the minimum collision time under the condition of collision, and determines the desired velocity and direction according to the position of the obstacle. At the same time, under the condition of overload constraints, the optional speed in the simulation iteration is divided into two parts, and the obstacle avoidance speed is determined according to the principle of minimum penalty factor. Through MATLAB simulation analysis, the planar space obstacle avoidance algorithm can give full play to the hovering advantage of rotary wing UAV, and realize its autonomous obstacle avoidance purpose.

关 键 词：旋转翼无人机 路径规划 平面避障算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP301.6[自动化与计算机技术—计算机系统结构] V249[自动化与计算机技术—计算机科学与技术]