Dynamic obstacle avoidance method for UAV based on improved mutual velocity obstacle method

Abstract

The invention discloses a dynamic obstacle avoidance method for an unmanned aerial vehicle based on an improved mutual velocity obstacle method, which improves the mutual velocity obstacle method. After obstacle avoidance, select the best flight speed and flight direction according to the current position of the drone and the target point. The method of the invention comprehensively considers factors such as the time, location and distance of the collision between the UAV and the dynamic obstacle, and in particular, selects the speed after judging that the collision occurs, so as to ensure the smooth trajectory and the collision-free flight path of the UAV. It enables the UAV to select the speed vector according to its own size and the radius and distance of dynamic obstacles to reduce unnecessary shaking and shorten the collision avoidance time.

Description

technical field [0001] The invention belongs to the technical field of UAV flight control, relates to the obstacle avoidance technology of UAVs in dynamic and complex environments, and in particular relates to a UAV dynamic obstacle avoidance method based on an improved mutual speed 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 autonomous mission capabilities are an inevitable trend in future development. Path planning is a key technology to ensure the autonomous flight of UAVs and improve 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 problem refers to how to plan a path for the UAV to bypass all obstacles safely and without c...

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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