Unmanned aerial vehicle real-time obstacle avoidance control method in continuous obstacle environment

Abstract

The invention relates to a real-time obstacle avoidance control method for an unmanned aerial vehicle in a continuous obstacle environment, which belongs to the technical field of airborne obstacle avoidance of the unmanned aerial vehicle. The method comprises the steps that a mathematical model of the unmanned aerial vehicle obstacle avoidance system is established by using the spatial position relationship and the kinematics equation of the unmanned aerial vehicle; an unmanned aerial vehicle obstacle avoidance guidance law is designed by using the characteristic of fast convergence of the multi-power sliding mode approach law; at the same time uncertainties caused by sensor errors, system modeling and the like are considered; and a super-spiral interference observer is introduced to estimate and compensate the uncertainties in the system. The method enables the unmanned aerial vehicle to avoid continuous obstacles in real time in an accurate manner, does not cause excessive maneuvering of the unmanned aerial vehicle, and is robust to system uncertainties caused by sensor errors.

Description

Technical field [0001] The invention relates to a real-time obstacle avoidance control method for drones in a continuous obstacle environment, and belongs to the technical field of aerial obstacle avoidance for drones. [0002] technical background [0003] Recently, small fixed-wing UAVs have shown great potential in the military and civilian fields. Because of their faster speed and excellent endurance compared to rotary-wing UAVs, they have been widely used in various fields, such as reconnaissance, surveillance, Target acquisition, etc. However, current small fixed-wing UAVs are still unable to quickly and safely pass the above-mentioned complex terrain when facing continuous obstacles such as buildings and tunnels. The main difficulty is that the size and shape of continuous obstacles may not be clear before the UAV flight. The characteristics of the UAV's fast flying speed put forward higher real-time requirements for the design of the control law. [0004] At present, many s...

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Problems solved by technology

[0006] In order to overcome the lack of ability of the existing UAV obstacle avoidance method to deal with real-time sudden continuous obstacles, the present invention proposes a UAV real-time obstacle avoidance control method in a continuous obstacle environment, using a multi-power sliding mode approach law Design the UAV obstacle avoidance guidance law, and at the same time use the disturbance observer to compensate the error of the sensor, realize the UAV's real-time obstacle avoidance function for continuous obstacles, and will not cause excessive maneuvering problems of the UAV

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