A UAV path tracking and autonomous obstacle avoidance method based on line-of-sight guidance law

Abstract

The invention discloses a UAV path tracking and autonomous obstacle avoidance method based on the line-of-sight guidance law, including: 1) track tracking control: the UAV completes track tracking control according to pre-designed route information; Turning to achieve smooth switching of waypoints, reducing tracking errors; increasing height tracking to realize UAV three-dimensional track tracking flight; 2) Online autonomous obstacle avoidance: online detection and prediction of obstacles, early warning of irregular obstacles The boundary is composed of one or more cylinders, and the obstacle is mathematically modeled using the center, radius and height to simplify the design of the obstacle avoidance algorithm; the UAV detects obstacles in real time during flight, and automatically generates a temporary route for obstacle avoidance online. The man-machine can fly around obstacles according to the avoidance route. The method of the invention has better control performance, can track desired routes arbitrarily and complete online autonomous obstacle avoidance, and realize autonomous flight of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of UAV path tracking and autonomous obstacle avoidance, in particular to a UAV path tracking and autonomous obstacle avoidance method based on the line-of-sight guidance law. Background technique [0002] Due to its unique shape, structure and broad application prospects, UAV has become a current research hotspot. The autonomous flight navigation system is one of the most important parts of the UAV, which directly determines the flight performance of the UAV. However, due to factors such as the unknown environment in the UAV route and the existence of obstacles, the autonomous flight of UAVs is limited. In this case, the UAV navigation control system needs to have a certain degree of path tracking and autonomous obstacle avoidance adaptability. [0003] Therefore, it is particularly important to design a simple, efficient, and robust path tracking and autonomous obstacle avoidance method to reduce the comp...

AI Technical Summary

Problems solved by technology

However, due to factors such as the unknown environment and the existence of obstacles in the route of the UAV, the autonomous flight of the UAV is limited.

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