摘要
针对无人机基于环境感知进行局部路径再规划的实时与安全性问题,提出了一种基于改进速度障碍法的局部路径避障规划算法。将传统速度障碍法拓展到三维空间中,建立三维空间速度障碍模型,将机动性动态障碍物在速度空间中的运动不确定转化为位置不确定,实时性更好,提高了避障水平与安全裕度;通过定义和引入自适应威胁距离,提高了无人机在避障过程中对原航迹的利用率;利用空间几何分析,求解无人机空间自主避障的最优速度,实现局部路径动态实时规划。通过比较分析对遇、追击和交叉3种场景下的局部路径避障规划仿真结果,验证了该算法的实时性、可行性和有效性。
To solve the real-time and safety problems in UAV local path replanning based on environment awareness,a local path avoidance planning algorithm is proposed based on the improved velocity obstacle method.The traditional velocity obstacle method is extended to the three-dimensional space,and a three-dimensional spatial velocity obstacle model is established to transform the motion uncertainty of maneuvering dynamic obstacles in the velocity space into position uncertainty,with better real-time performance and improved obstacle avoidance level and safety margin.By defining and introducing adaptive threat distance,the utilization rate of the original trajectory of the UAV in the obstacle avoidance process is improved.The optimal speed of spatial autonomous obstacle avoidance is solved using spatial geometric analysis,and dynamic real-time planning of local paths is achieved.The timeliness,feasibility and effective⁃ness of the algorithm are verified by comparing the simulation results of local path obstacle avoidance planning under three scenarios:encounter,pursuit and crossover.
作者
郭华
郭小和
GUO Hua;GUO Xiaohe(School of Aircraft Engineering,Nanchang Hangkong University,Nanchang 330000,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2023年第11期266-276,共11页
Acta Aeronautica et Astronautica Sinica
关键词
路径规划
速度障碍法
机动性障碍物
自适应威胁距离
自主避障
最优速度
path planning
velocity obstacle method
maneuvering obstacle
adaptive threat distance
autono⁃mous obstacle avoidance
optimal velocity
