Improved speed obstacle method-based unmanned aerial vehicle conflict detection and resolution method

Abstract

The invention discloses an improved speed obstacle method-based unmanned aerial vehicle conflict detection and resolution method. The method comprises the steps of 1, establishing a conflict detectionmodel; 2, obtaining conflict conditions and non-conflict conditions according to the conflict detection model; 3, enabling an unmanned aerial vehicle to sense the position and speed of an invasion machine, carrying out prediction according to the conflict conditions and the non-conflict conditions, when the conflict conditions are satisfied, re-selecting the speed of the unmanned aerial vehicle and executing the step 4, and when the non-conflict conditions are satisfied, enabling the unmanned aerial vehicle to fly according to the original flight path; and 4, after the conflict is resolved, keeping the speed of the unmanned aerial vehicle during the conflict resolution and changing the direction of the unmanned aerial vehicle to ensure that the unmanned aerial vehicle flies toward the target point. The method is capable of solving the problems of randomness and easy shake of the speed obstacle method during the re-selection of speed, converting the optimum speed of the unmanned aerialvehicle, improving the speed of flying toward the target point, shortening the path through not recovering the original flight path after the conflict resolution, decreasing the maneuvering frequency, importing B splines and avoiding the unmanned aerial vehicle from being too large in turning angle.

Description

technical field [0001] The invention relates to a UAV conflict detection and conflict resolution method based on an improved speed obstacle method, which belongs to the technical field of UAV obstacle avoidance. Background technique [0002] In recent years, drones have developed rapidly and are widely used for various tasks, including surveillance and reconnaissance. The number of unmanned aerial vehicles is constantly increasing, and the airspace resources are limited, resulting in an increasing probability of unmanned aerial vehicle conflicts. The conflicts have brought huge property losses to individuals and society. become more and more important. In order to solve this problem, many conflict resolution algorithms have emerged, which are used to avoid unforeseen obstacles suddenly appearing in its flight path, and can quickly take a corrective route from its predetermined flight path in a short time, so as to ensure flight stability. process safety. [0003] At prese...

AI Technical Summary

Problems solved by technology

After the conflict is resolved, the strategy of not restoring the original track is adopted. Many experts or scholars will calculate the track recovery point so that the UAV can recover according to the original track, such as figure 1 shown, but this creates problems with increased number of maneuvers and increased path length

[0004] according to figure 1 It can be seen that due to the fact that the angle constraint is not considered during the flight of the UAV, the turning angle of the UAV is very large when solving the problem of UAV conflict resolution.

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