Method and device for avoiding obstacle of unmanned aerial vehicle
A technology for unmanned aerial vehicles and obstacle avoidance, applied in the field of aviation science, can solve problems such as unmanned aerial vehicle maneuverability constraints, airborne or ground station processor performance requirements are high, real-time requirements are not met, etc., to achieve Reduce flight energy consumption costs, meet UAV maneuverability constraints, and quickly and safely avoid obstacles
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[0028] The technical scheme of the present invention will be described below in conjunction with the drawings and specific examples for further explanation.
[0029] figure 1 It shows a flow chart of a UAV obstacle avoidance method based on human obstacle avoidance behavior disclosed in the present invention. Such as figure 1 As shown, the method specifically includes the following steps:
[0030] Step 1. The sensor detects and judges whether there are obstacles and sudden threats in the direction of the drone in real time; if there are obstacles and threats, go to step 2; if there are no obstacles and threats, go to step 5;
[0031] Step 2. If there is an obstacle or sudden threat, model the obstacle area where the obstacle or sudden threat is located, determine the nearest obstacle edge in the obstacle area model, and use the nearest edge to construct the collision avoidance area Γ. The obstacle avoidance behavior will be adopted when the man-machine flies into the collision avoid...
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