基于MPC方法无人机避障路径规划研究  

Obstacle Avoidance Route Planning of UAVs Based on MPC Method

作　　者：李继广 董彦非 刘天栋 樊佳乐 LI Jiguan;DONG Yanfei;LIU Tiandong;FAN Jiale(School of Aerocraft,Xi’an Aeronautical University,Xi’an 710077,China)

机构地区：[1]西安航空学院飞行器学院,西安710077

出　　处：《火力与指挥控制》2023年第3期78-83,89,共7页Fire Control & Command Control

基　　金：陕西省自然科学青年基金(2021JQ-858,2021JQ-845);陕西省自然科学基金重点项目(2022JZ-37);陕西高等教育教学改革研究项目(21BY163)。

摘　　要：无人机大多依靠规划好的航路飞行,面对复杂的、不可预知的飞行环境,有效的自主障碍规避能力对提高飞行安全十分必要。针对无人机飞行过程中机动障碍物的避障问题,提出了一种MPC避障路径规划方法。构造障碍物预测模型、一阶指数参考轨迹生成方法、并提出了能力-时间组合最优为目标的滚动优化模型,有效解决了在运动障碍物作用下,无人机运动轨迹安全、平滑的动态规划问题。二维和三维空间仿真结果表明,所提方法是有效的。UAVs mostly rely on the planned route for flight.Facing the complex and unpredictable flight environment,effective autonomous obstacle avoidance capability is necessary to improve flight safety.Aiming at the obstacle avoidance problems of maneuvering obstacles during UAV flight,a MPC obstacle avoidance path planning method is proposed.The obstacle prediction model and the first-order exponential reference trajectory generation method are constructed,and a rolling optimization model aiming at the optimization of capability-time combination is proposed,which effectively solves the problems of safe and smooth dynamic planning of UAV trajectories under the action of moving obstacles.2D and 3D space simulation results show that the proposed method is effective.

关 键 词：避障路径规划 MPC方法 轨迹生成 滚动优化 

分 类 号：TJ391[兵器科学与技术—火炮、自动武器与弹药工程] TJ761.1