基于速度障碍的无人机避免机动障碍物问题

针对无人机避免机动障碍物的问题,应用速度障碍法,在充分考虑障碍物可达范围和无人机最大机动能力的基础上,将问题空间转换到了速度空间,然后以速度障碍的边界条件替代速度障碍的整体范围约束,这样得到了速度障碍的简单表达形式。最后结合最优控制,在速度空间解决了无人机避免障碍物的问题,并直接求解出了合适的速度输出。仿真结果表明方法切实可行。

Research on Avoiding Collisions with Dynamical Obstacles for UAV Based on Velocity Obstacle

In order to avoid collisions with the dynamical obstacles for UAV, the method of velocity obstacle is applied, taking the max dynamic of obstacles and UAV both into account. Converting the problem into velocity space,and taking the boundary condition to instead the constraint of the velocity obstacle,the simply model of the method is gotten. Running with optimal control,the proper velocity in the velocity space directly is found out. Finally,the simulation result shows that the method of velocity obstacle is valid.