摘要
在多个无人飞行器(UAV)进行避障时,各个UAV通常将其他UAV当作移动障碍物进行处理,忽略了其他UAV也会根据自身传感器获知的周围环境信息做出相应的避障机动,规划出的UAV避障路径不可避免出现震颤,针对这一问题,提出了一种基于互惠速度障碍法的避障算法。避障时,不需UAV之间进行通信,每个UAV独立进行同样的避障决策,计算量少,实时性好,能够满足多UAV在线避障的要求。仿真结果验证了本方法的可行性和有效性。
During the obstacle avoidance process,each Unmanned Aerial Vehicle takes other UAVs as moving obstacles,ignoring the fact that other UAVs will also make corresponding obstacle avoidance maneuvers based on the perceived ambient information,which results in the oscillation of the generated path.To solve the problem,a collision avoidance method based on the reciprocal velocity obstacle is proposed;the method takes into account the reactive behavior of other UAVs by assuming that they make similar collision avoidance reasoning.This method has the advantages of less computation and good realtime performance,and can meet the requirements of online obstacle avoidance.Simulation results show the feasibility and effectiveness of the proposed method.
出处
《兵器装备工程学报》
CAS
2017年第10期113-116,共4页
Journal of Ordnance Equipment Engineering
基金
航空科学基金资助项目(20135584010)
关键词
多UAV
协同避碰
互惠速度障碍法
在线避障
multi-Unmanned Aerial Vehicles
coordinated collision avoidance
reciprocal velocityobstacle
online obstacle avoidance
