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A Planar Autonomous Obstacle Avoidance Method for Unmanned Aerial Vehicles in Dynamic Uncertain Environments

An unmanned aerial vehicle, uncertainty technology, applied in the direction of instruments, aircraft traffic control, non-electric variable control, etc., can solve the problems of less consideration of the impact of dynamic obstacles, hidden dangers, and reduced reliability of obstacle avoidance.

Active Publication Date: 2019-07-23
NAVAL AVIATION UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The detection error of the sensor will affect the subsequent obstacle avoidance of the unmanned aerial vehicle, but the existing autonomous obstacle avoidance methods of the unmanned aerial vehicle rarely consider the impact of the detection error of the sensor
[0004] To sum up, in the existing autonomous obstacle avoidance methods for unmanned aerial vehicles, the uncertainty of the movement of dynamic obstacles (ie, the maneuverability of dynamic obstacles) and the impact of obstacle avoidance caused by sensor detection errors are rarely considered. Ignoring the problem will inevitably bring safety hazards to the subsequent autonomous obstacle avoidance of unmanned aerial vehicles, and greatly reduce the reliability of obstacle avoidance

Method used

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  • A Planar Autonomous Obstacle Avoidance Method for Unmanned Aerial Vehicles in Dynamic Uncertain Environments
  • A Planar Autonomous Obstacle Avoidance Method for Unmanned Aerial Vehicles in Dynamic Uncertain Environments
  • A Planar Autonomous Obstacle Avoidance Method for Unmanned Aerial Vehicles in Dynamic Uncertain Environments

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Experimental program
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Effect test

Embodiment 1

[0112] In a dynamic uncertain environment, set the unmanned aerial vehicle to take off from the point P s (0,0) to the target point P t Execute the task at (500,1000). During the flight of the UAV, the threat obstacles in the surrounding environment are detected by the sensor device carried by itself. The following is based on the autonomous obstacle avoidance algorithm of the UAV in a dynamic and uncertain environment to simulate the collision avoidance of the UAV. Consider uncertainty in dynamic environments. The initialization conditions of UAV and obstacles are shown in Table 1. Among them, only one of the obstacles detected by the UAV has a level-1 threat, and the others are all level-3 threat obstacles.

[0113] Table 1 Initialization conditions for single threat obstacle collision avoidance

[0114]

[0115] According to the calculation method of the obstacle arc size, the threat obstacle arc parameters under different dynamic uncertainties in Table 2 can be obta...

Embodiment 2

[0120] When the UAV detects multi-threat obstacles at the same time, the corresponding initialization conditions are shown in Table 3. From Table 3, it can be concluded that the obstacle O 1 , O 2 has a level one threat; and O 3 , O 4 It is a level 3 threat obstacle.

[0121] Table 3 Initialization conditions for multi-threat obstacle collision avoidance

[0122]

[0123] Table 4 gives the arc parameters of the two threat obstacles under different dynamic uncertainties, and the entire obstacle arc range is the union of the two threat obstacle arc ranges, and becomes larger with the increase of the dynamic uncertainty .

[0124] Table 4 Threat obstacle arc parameters under different dynamic uncertainties

[0125]

[0126] Similarly, the UAV’s collision avoidance direction angle for multi-threat obstacles can be determined as a value outside the entire obstacle arc range, and then according to the corresponding initialization conditions, the obstacle avoidance time t...

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Abstract

The invention discloses a method for unmanned aerial vehicle planar automatic obstacle avoiding in dynamic uncertain environments. The method comprises the following steps of detecting positions and velocities of an unmanned aerial vehicle and a dynamic obstacle; constructing a two-dimensional velocity barrier cone; selecting a dynamic uncertainty representation method, and representing a velocity barrier zone; and solving an obstacle avoidance direction. In order to simplify the calculation, regularization processing of the velocity barrier zone of dynamic uncertainty is further considered, and based on that, the method adopts a velocity barrier arc method to solve the obstacle avoidance direction. This method can effectively avoid the influence of the existing obstacle avoidance algorithm in ignoring the maneuverability of the dynamic obstacle and the detection error of the sensor, and realize the unmanned aerial vehicle planar automatic obstacle avoiding in the dynamic uncertain environment.

Description

technical field [0001] The invention belongs to the control field of unmanned aerial vehicle space obstacle avoidance flight, and in particular relates to an unmanned aerial vehicle planar autonomous obstacle avoidance method in a dynamic uncertain environment. Background technique [0002] During the mission flight, the unmanned aerial vehicle can use its own sensor device to detect the dynamic and static obstacles around it. These dynamic and static obstacles may affect the safe flight of the unmanned aerial vehicle. For static obstacles, unmanned aerial vehicles can easily achieve obstacle avoidance through existing methods; but for dynamic obstacles, especially for dynamic obstacles with certain maneuverability, there is still a lack of simple and practical unmanned aerial vehicles in the prior art. Autonomous obstacle avoidance method for aircraft plane. [0003] At present, in the process of obstacle avoidance, the UAV mainly relies on the sensors carried by the UAV t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101G05D1/106G08G5/0021G08G5/0026G08G5/0069G08G5/045
Inventor 杨秀霞张毅周硙硙华伟梁勇赵贺伟耿宝亮韦建明罗超
Owner NAVAL AVIATION UNIV
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