基于改进人工势场法的无人机室内自主避障  

Autonomous indoor obstacle avoidance of UAV based on improved artificial potential field method

作　　者：王伟[1] 黄海洲 李润梓 WANG Wei;HUANG Haizhou;LI Runzi(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《电子设计工程》2021年第18期95-98,共4页Electronic Design Engineering

摘　　要：近年来,随着无人机小型化和价格下降,无人机在民用方面发展迅速,关于无人机在室内飞行的研究逐渐增多。传统的人工势场法将无人机当做质点来进行路径规划,但是室内空间狭小,实际飞行的过程中需要考虑无人机的大小,而且传统的人工势场法在路径规划时容易陷入局部极小点。文中在考虑无人机空间大小的前提下,将改进人工势场法运用到无人机室内自主避障中,通过设计避障预防检测策略,对无人机飞行方向进行实时校正,并通过在局部极小点附近对无人机飞行方向和步长进行调整,实现了无人机在自主路径规划中避开障碍物的功能。通过仿真测试,验证了所提方法的有效性和可行性。In recent years,with the miniaturization and price drop of UAV,UAV are developing rapidly in civilian use,and research on UAV flying indoors has gradually increased.The traditional artificial potential field method treats the UAV as a mass point for path planning.But the indoor space is small,and the size of the UAV needs to be considered during the actual flight.Moreover,the traditional artificial potential field method is easy to fall into the local minimum during path planning.In this paper,under the premise of considering the size of the UAV space,the improved artificial potential field method is applied to the UAV’s indoor autonomous obstacle avoidance.By designing obstacle avoidance prevention detection strategies,the UAV’s flight direction is corrected in real time.The flight direction and step length of the UAV are adjusted near the local minimum point,so that the UAV can avoid obstacles in autonomous path planning.The simulation verifies the validity and feasibility of the method proposed in this paper.

关 键 词：无人机 人工势场法 室内自主避障 避障预防检测 局部极小点 

分 类 号：TN0[电子电信—物理电子学]