Unmanned aerial vehicle cluster autonomous obstacle avoidance method and device based on combined vector field method

Abstract

The invention discloses an unmanned aerial vehicle cluster autonomous obstacle avoidance method and device based on a combined vector field method. The unmanned aerial vehicle cluster autonomous obstacle avoidance method based on the combined vector field method comprises the following steps of acquiring a closest intersection between the connecting line between the current position of the UAV and the center of an obstacle and a surface of an obstacle; determining a tangent plane of the obstacle surface at the intersection point, and calculating a normal vector of the tangent plane and a tangent vector passing through the intersection point in the tangent plane; and based on the normal vector and the tangent vector, designing a current guidance law for the unmanned aerial vehicle so that the unmanned aerial vehicle avoids an obstacle on the premise of flying towards the target. The method is advantaged in that the autonomous obstacle avoidance guidance law in a unified form and an analytic form is provided for obstacles in various shapes possibly encountered by an unmanned aerial vehicle cluster in a three-dimensional space, and the obstacles in various shapes can be conveniently avoided.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a method and device for autonomous obstacle avoidance of UAV clusters based on a combined vector field method. Background technique [0002] In realistic swarm missions, threats to UAVs include terrain (mountains, mountains, etc.), radar, and firepower (anti-aircraft guns, guided missiles, etc.). Terrain can be considered a static obstacle, while radar and firepower are static or dynamic obstacles. In addition, for each member in the cluster, other nearby members also pose a threat to its safe flight, so these members can also be regarded as dynamic obstacles. [0003] In related technologies, the obstacle avoidance technology of UAV swarms can only deal with obstacles of specific shapes (such as spheres, cubes, etc.) in three-dimensional space, and cannot uniformly deal with three-dimensional obstacles of various shapes. Contents of the invention [0004] Embodiments of...

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Problems solved by technology

[0004] The embodiment of the present invention provides a UAV cluster autonomous obstacle avoidance method and device based on the combined vector field method to solve the problems of UAVs in the prior art Cluster obstacle avoidance technology can only deal with obstacles of specific shapes (such as spheres, cubes, etc.) in three-dimensional space, and cannot uniformly deal with three-dimensional obstacles of various shapes.

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