Unmanned aerial vehicle obstacle avoidance method

A drone and obstacle avoidance technology, applied in the field of drones, can solve problems such as large amount of calculation, failure to consider the constraints of drone dynamics performance, lack of consideration of drone dynamics constraints and flight envelope requirements, etc., to achieve Improve practicality, avoid the problem of local obstacle traps, and satisfy the effect of dynamic performance

Inactive Publication Date: 2017-07-04
HUNAN UNIV
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Problems solved by technology

This method has the disadvantages of a large amount of calculation and does not take into account the limitations of the UAV's dynamic performance.
[0010] To sum up, the existing documents and patents related to UAV obstacle avoidance me

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  • Unmanned aerial vehicle obstacle avoidance method
  • Unmanned aerial vehicle obstacle avoidance method

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Embodiment Construction

[0028] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific examples. However, it can be understood that the following specific embodiments are only preferred technical solutions of the present invention, and should not be construed as limiting the present invention.

[0029] Such as figure 1 Shown, a UAV obstacle avoidance method, this obstacle avoidance method mainly includes the following steps:

[0030] Step 1. The UAV plans an initial flight path to the destination. The UAV starts from the starting point and starts along the initial planned path.

[0031] Step 2: Use the sensor to detect the position and speed information of the UAV and the obstacles within 800m of the UAV during the flight of the UAV.

[0032] Such as figure 2 As shown, for the relative motion between the UAV and the obstacle, the onboard sensor is used to detect the UAV velocity vector Obstacle Velocity Vector The relative ve...

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Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method, which comprises the steps of planning an initial flight path for an unmanned aerial vehicle; detecting position and speed information of an obstacle within a certain distance of the unmanned aerial vehicle by using a sensor in the flying process of the unmanned aerial vehicle; calculating whether collision occurs or not in flight according to the initial path by adopting a collision detection algorithm; working out a collision avoidance path by using a policy iteration algorithm according to a collision region information predicted by the collision detection algorithm and a destination of the unmanned aerial vehicle; correcting the collision avoidance path by using a backtracking method, and preventing the unmanned aerial vehicle from being caught in a local obstacle trap; and performing differential flattening processing on the corrected collision avoidance path according to dynamic performance characteristics of the unmanned aerial vehicle. According to the method provided by the invention, flight envelope restriction requirements of the unmanned aerial vehicle in reality are met, a common problem of local obstacle traps in the path planning algorithm is effectively avoided, and multiple obstacles can be avoided in real time under the premise of meeting the dynamic performance.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an obstacle avoidance method for unmanned aerial vehicles. Background technique [0002] Compared with manned aircraft, UAVs have significant advantages in military and civilian fields, and have been widely used in aerial photography, environmental monitoring, forest fire prevention and other fields, and the cost is low. In order to promote UAVs to enter a broader application field and share the flight space with manned aircraft, how to ensure the safety of UAVs in the air has become a difficult problem that needs to be solved. At present, scholars at home and abroad have successively proposed patents and documents on UAV obstacle avoidance methods, such as: [0003] Document 1 (A.G.Shem, T.A.Mazzuchi, and S.Sarkani, "Addressing uncertainty in UAV navigation decision-making," IEEE Transactions on Aerospace and Electronic Systems, vol.44, no.1, pp.295-313, 2008.)...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 余翔周忠宝宋秉华余洪山王立峰林重重
Owner HUNAN UNIV
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