A non-cooperative real-time obstacle avoidance method for unmanned aerial vehicles based on instantaneous collision points

A technology of unmanned aerial vehicle and collision point, applied in the field of unmanned aerial vehicle, can solve the problem of low autonomous ability of unmanned aerial vehicle system, and achieve the effect of easy implementation, improved safety and simple principle

Active Publication Date: 2017-11-07
NAT UNIV OF DEFENSE TECH
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AI Technical Summary

Problems solved by technology

At present, the autonomous capability of UAV system is generally not high, and its operation is mainly controlled by ground station or pre-programmed, without the ability of Sense and Avoid (SAA) of space obstacles, which leads to frequent occurrence of air collision accidents

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  • A non-cooperative real-time obstacle avoidance method for unmanned aerial vehicles based on instantaneous collision points
  • A non-cooperative real-time obstacle avoidance method for unmanned aerial vehicles based on instantaneous collision points
  • A non-cooperative real-time obstacle avoidance method for unmanned aerial vehicles based on instantaneous collision points

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Embodiment Construction

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] A non-cooperative real-time obstacle avoidance method for UAVs based on instantaneous collision points of the present invention is a non-cooperative real-time collision detection and obstacle avoidance route planning method for UAVs based on the idea of ​​"instantaneous collision points" in the parallel approach method. The parallel approach method is a common guidance law in aircraft tracking. The problem of obstacle avoidance is actually similar to problems such as precise guidance. The difference is that the former must always aim at the target point, and obstacle avoidance requires avoiding pointing to the target point as much as possible. Based on this idea, it is easy to detect possible collision relationships between drones and obstacles. At the same time, the area around the instantaneous collision point and the releva...

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Abstract

The invention discloses a non-cooperative real-time obstacle avoidance method for UAVs based on instantaneous collision points. The steps are: (1) obstacle detection: obtaining the relative motion state of the obstacle; (2) obstacle motion estimation: based on satellite navigation information Obtain the state information of the machine and calculate the motion state of the inertial space obstacle; (3) Collision detection: judge whether it will collide with the obstacle; (4) Obstacle avoidance decision: based on the detection result of step (3), make an obstacle avoidance Decision-making; (5) Obstacle avoidance route replanning based on the rapid expansion random tree algorithm considering instantaneous collision points: based on instantaneous collision points, route evaluation heuristic information is introduced to realize obstacle avoidance route replanning. The invention has the advantages of simple principle, easy realization, and ability to improve the safety of the drone.

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 operations are mainly controlled by ground stations or pre-programmed, without the ability to 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 ground station, the spat...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 牛轶峰方斌相晓嘉李杰
Owner NAT UNIV OF DEFENSE TECH
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