摘要
针对涉及无人机安全的防碰撞问题,提出基于最优化理论的自主防碰撞方法。通过对无人机自主防碰撞过程的定性分析,建立了无人机自主防碰撞系统;然后分析了应用于该系统中不同阶段的防碰撞方法,并基于最优化理论提出了三维、动态碰撞预测与防碰撞方法,最后将规避策略转化为无人机机动控制指令实现规避。仿真结果验证了方法的有效性。
For the collision avoidance problem which relates to the Unmanned Aerial Vehicle＇s（UAV） safety,an autonomic collision avoidance method based on an optimization theory is proposed.By analyzing the process of the UAV autonomic collision avoidance,the integrated autonomic collision avoidance system for UAV is established;the collision avoidance methods in different phases of the system are analyzed,and then the three dimensional,on-line collision prediction and collision avoidance method is proposed based on the optimization theory.Finally the avoidance strategy is translated into the maneuver control commands for the UAV collision avoidance.Simulations verify the effectiveness of the proposed method.
出处
《飞行力学》
CSCD
北大核心
2011年第6期48-51,共4页
Flight Dynamics
基金
国家“863”高技术研究发展计划基金资助(2010AAJ114)
国家自然科学基金资助(61074007)
关键词
最优化理论
防撞规避法
机动控制指令
optimization theory
collision avoidance method
maneuver control command
