Instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method

Abstract

The invention discloses an instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method. The instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method comprises the steps of 1 performing obstacle detection, namely obtaining a relative motion state of an obstacle, 2 performing obstacle motion estimation, namely obtaining machine state information based on satellite navigation information and calculating a motion state of an inertial space obstacle, 3 performing impact conflict detection, namely judging whether obstacle impact occurs or not, 4 performing obstacle avoidance decision making, namely making an obstacle avoidance decision based on a detection result in the step 3, 5 performing obstacle avoidance route re-planning based on a quick expanding random tree algorithm considering an instantaneous impact point, namely introducing route evaluation heuristic information based on the instantaneous impact point and achieving obstacle avoidance route re-planning. The instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method has the advantages of being simple in principle, easy to achieve, capable of improving unmanned aerial vehicle safety and the like.

Description

technical field [0001] The invention mainly relates to the field of unmanned aerial vehicles, in particular to a non-cooperative real-time obstacle avoidance method for unmanned aerial vehicles based on instantaneous collision points. Background technique [0002] With the continuous development of UAV system capabilities, many UAVs with different functions are widely used in various civil operations, which also leads to a rapid increase in the number of UAVs in the airspace. At present, the autonomy of UAV systems is generally not high, and its operation is mainly controlled by the ground station or pre-programmed, without the ability to sense and avoid (Sense and Avoid, SAA) space obstacles, resulting in frequent air collision accidents . [0003] At present, there are two main ways for UAV systems to realize perception and avoidance: [0004] The first way: through ground-based perception and avoidance, based on the state measurement and control data of UAVs at the grou...

AI Technical Summary

Problems solved by technology

At present, the autonomous capability of the UAV system is generally not high, and its operation is mainly controlled by the ground station or pre-programmed, and there is no sense and avoidance (Sense and Avoid, SAA) capability of space obstacles, which leads to frequent occurrence of air collision accidents

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