Layered obstacle avoidance control method in target tracking of unmanned aerial vehicle

Abstract

The invention discloses a layered obstacle avoidance control method in target tracking of an unmanned aerial vehicle. The method comprises: S1, on the basis of states of an unmanned aerial vehicle anda target, an unmanned aerial vehicle target tracking model is constructed; S2, according to the unmanned aerial vehicle target tracking model, the unmanned aerial vehicle is controlled to carry out target tracking, the action decision making of the unmanned aerial vehicle is controlled based on a tracking decision-making function of a target information cumulant, so that an optimum action sequence for target information cumulant maximization is searched; and S3, when an obstacle is predicted and obstacle avoidance is determined to be needed, the unmanned aerial vehicle is started to carry outobstacle avoidance control, the action decision making of the unmanned aerial vehicle is controlled by using a collision avoidance decision function constructed in advance based on a relationship between the position of the unmanned aerial vehicle and the obstacle position, so that the unmanned aerial vehicle flies away from the predicted obstacle quickly. The layered obstacle avoidance control method has advantages of simple implementation, shortened calculation time, high efficiency and precision of tracking and obstacle avoidance, and good obstacle avoidance effect.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a layered obstacle avoidance control method in UAV target tracking. Background technique [0002] Unmanned Aerial Vehicle (UAV) has been widely used in military and civilian fields. In the target tracking of UAV, the observability of the target is realized by manipulating the sensors installed on the UAV. It is precisely because of the perception of UAV The ability is limited by the dynamic performance of UAVs and the performance of onboard sensors, and the action decision-making of UAVs has become one of the main research hotspots. At the same time, in a complex environment, there may be sudden threats or obstacles when the UAV is tracking the target, that is, a no-fly zone (collectively referred to as the obstacle zone) in the flight space, that is, there is still an obstacle avoidance problem in the target tracking process. [0003] In the prior art, the UAV target tracki...

AI Technical Summary

Problems solved by technology

[0004] 1. Using the penalty function method for collision detection and avoidance requires a long calculation time, which makes the obstacle avoidance control less efficient and cannot respond in time when an obstacle is detected;

[0005] 2. When using the penalty function method for collision detection and avoidance, it is still necessary to consider the target tracking strategy. In order to ensure the target and tracking accuracy at the same time, the obstacle avoidance effect of the drone is usually poor, making the path of the drone in the dangerous area longer

Images