An obstacle avoidance method for unmanned aerial vehicle based on double-rotation lyapunov vector field

Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method based on double bispin Lyapunov Vector field. The method comprises the steps that the flight constraint condition of an unmanned aerial vehicle is determined, and an obstacle safety circle is constructed; obstacle avoidance decision is carried out through the obstacle safety circle; and the optimal obstacle avoidance direction and a vector field rotation direction are determined to carry out obstacle avoidance. In order to improve the obstacle avoidance efficiency and shorten an obstacle avoidance path, the criterionof successful obstacle avoidance is redefined. In order to simplify the complexity of obstacle avoidance, an obstacle merge reconfiguration rule for avoiding multiple tiny obstacles is provided. The method can meet the dynamic constraint of the unmanned aerial vehicle, realizes static and dynamic obstacle avoidance, and realizes autonomous obstacle avoidance of the unmanned aerial vehicle in a dynamic unknown environment.

Description

technical field [0001] The invention belongs to the control field of unmanned aerial vehicle space obstacle avoidance flight, mainly relates to the method of simultaneously satisfying the dynamic constraints of unmanned aerial vehicle and realizing static and dynamic obstacle avoidance, especially relates to a kind of unmanned aerial vehicle based on double-spin Lyapunov vector field Aircraft obstacle avoidance method. Background technique [0002] As a kind of aircraft that can be controlled autonomously or remotely, it has attracted more and more attention due to its high endurance and maneuverability, and its obstacle avoidance technology during flight has also become a research hotspot. [0003] At present, there are many researches on obstacle avoidance flight of unmanned aerial vehicles, and the existing obstacle avoidance algorithms can be mainly divided into three categories: heuristic algorithms, methods based on graph theory and geometric methods. Among them, the ...

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Problems solved by technology

Among them, the heuristic algorithm can quickly plan a feasible trajectory from the starting point to the target point, but this type of method does not consider the maneuverability of the unmanned aerial vehicle, the planned trajectory is not flyable and needs to be carried out on the planned trajectory. The shortcomings of smoothing processing; and the method based on graph theory can seek the obstacle avoidance path from the starting point to the target point by traversing the space, but this type of method not only does not satisfy the dynamic constraints, but also needs to be adjusted once the task space changes. Space retraversal is not suitable for the obstacle avoidance planning of dynamic obstacles; while the geometric method can meet the flight dynamics constraints such as turning radius, but it can only avoid obstacles for static targets, and find a suitable obstacle avoidance tool for avoiding dynamic obstacles. point is very difficult

[0004] In summary, although the above three types of methods have their own advantages, they cannot meet the requirements of dynamic constraints and dynamic obstacle avoidance at the same time.

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