Obstacle avoidance method and device for unmanned aerial vehicle

Abstract

The invention provides a method and a device for avoiding an obstacle of an unmanned aerial vehicle. The method comprises the following steps of: detecting and judging whether the obstacle or an emergent threat exists in the forwarding direction of the unmanned aerial vehicle in real time; if the obstacle or the emergent threat exists, establishing an obstacle region at which the obstacle or the emergent threat is located, and establishing a collision avoidance behavior region according to an obstacle side closest to the unmanned aerial vehicle in the obstacle region; if the unmanned aerial vehicle enters the collision avoidance behavior region, calculating an obstacle avoidance velocity vector according to the closest obstacle side, wherein the obstacle avoidance velocity vector comprises obstacle avoidance velocity and obstacle avoidance direction of the unmanned aerial vehicle; calculating forwarding step of the unmanned aerial vehicle according to the obstacle avoidance velocity vector obtained through calculation; if not any obstacle or emergent threat is detected, calculating a target guide velocity vector according to target position, and calculating forwarding step of the target guide velocity vector; judging whether to achieve the target, if the target is not achieved, detecting and calculating again; or ending.

Description

technical field [0001] The invention relates to the field of aviation science and technology, in particular to an obstacle avoidance method and device for an unmanned aerial vehicle based on human obstacle avoidance behavior. Background technique [0002] Unmanned aerial vehicles (UAVs) have become combat equipment that countries have invested a lot of manpower and financial resources in research and development. As the battlefield environment becomes more complex and mission requirements increase, the need for multi-UAVs to perform reconnaissance missions is becoming increasingly important and common. After the 1970s, researchers at home and abroad have successively proposed many typical UAV real-time route planning methods, and achieved remarkable research results, but most of the methods have defects that do not meet the actual needs. [0003] Unmanned real flight environment information is difficult to fully predict, and often encounter unknown sudden threats or obstacle...

AI Technical Summary

Problems solved by technology

Graph search methods include Voronoi diagram method, fast random search tree method, and A* algorithm. These methods can quickly search for routes in the structural diagram, but the complexity of the search increases geometrically with the increase of the geographic space dimension. It is suitable for complex terrain and real-time calculation; in addition, the routes obtained by these methods are composed of polylines, which do not meet the constraints of maneuverability of unmanned aerial vehicles; evolutionary algorithms can meet the constraints of three-dimensional terrain and flight performance, but there are blindness in the iterative evolution process. The calculation amount is very large, it does not meet the real-time requirements, and the performance requirements of the airborne or ground station processor are relatively high; the artificial potential field method regards the target and the obstacle as the source of the gravitational field and the source of the repulsive field, and no one The aircraft moves along the direction of the resultant force of attraction and repulsion, and a smooth flight trajectory can be obtained. This method can be used for real-time control, but the disadvantage is that there are local traps, and the calculated route is prone to jitter.

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