Unmanned aerial vehicle dynamic obstacle avoidance method based on improved mutual speed obstacle method

Abstract

The invention discloses an unmanned aerial vehicle dynamic obstacle avoidance method based on an improved mutual speed obstacle method, which improves a mutual speed obstacle method, reselects a new flight speed direction after judging that an unmanned aerial vehicle collides with an obstacle, and reselects the optimal flight speed and flight direction according to a current position of the unmanned aerial vehicle and a target point after obstacle avoidance is finished. According to the unmanned aerial vehicle dynamic obstacle avoidance method, factors such as time, place and distance of collision between the unmanned aerial vehicle and the dynamic obstacle are comprehensively considered, and particularly, speed selection is performed after the collision is judged, so that a smooth track and a collision-free flight path of the unmanned aerial vehicle are ensured, and therefore, the unmanned aerial vehicle can select the velocity vector according to the size of the unmanned aerial vehicle and the radius and distance of the dynamic obstacle to reduce unnecessary jitter and shorten collision avoidance time.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle flight control, relates to an obstacle avoidance technology of an unmanned aerial vehicle in a dynamic and complex environment, and in particular relates to a dynamic obstacle avoidance method for an unmanned aerial vehicle based on an improved mutual velocity obstacle method. Background technique [0002] In recent years, UAVs have played an increasingly important role in both military and civilian fields, and their development potential has gradually been tapped. UAVs with the ability to perform tasks autonomously are an inevitable trend in future development. Path planning is the key technology to ensure the autonomous flight of UAVs and improve the survivability and safety indicators. As one of the key technologies reflecting the autonomous control capability of UAVs, obstacle avoidance route planning has received extensive attention. The obstacle avoidance path planning probl...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art, the present invention provides a dynamic obstacle avoidance method for unmanned aerial vehicles that improves the mutual speed obstacle method, and solves the problem that the UAV flies toward the target point at a speed reselected by the mutual speed obstacle method in the velocity space. When the turning angle is too large, there will be a problem

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