Unmanned aerial vehicle obstacle avoidance method and system based on speed potential field

Abstract

The invention provides an unmanned aerial vehicle obstacle avoidance method and system based on a speed potential field, and is used for controlling an unmanned aerial vehicle to effectively avoid a high-speed moving obstacle, and the method comprises the steps: detecting the collision possibility of the unmanned aerial vehicle and the obstacle according to the position and speed of the unmanned aerial vehicle and the position and speed of the obstacle; if the collision possibility exists between the unmanned aerial vehicle and the obstacle, calculating the gravitational force generated by the gravitational field to the unmanned aerial vehicle, the repulsive force generated by the improved repulsive force field to the unmanned aerial vehicle and the speed potential field force generated by the speed potential field to the unmanned aerial vehicle; according to the gravitational force, the repulsive force generated by the improved repulsive force field to the unmanned aerial vehicle and the speed potential field force, calculating the resultant force borne by the unmanned aerial vehicle in the ith step, wherein i is a positive integer; according to the resultant force borne by the unmanned aerial vehicle in the ith step, calculating the direction unit angle of the unmanned aerial vehicle in the ith step, calculating the velocity vector, the pitch angle and the yaw angle of the next movement of the unmanned aerial vehicle according to the direction unit angle, and controlling the unmanned aerial vehicle to avoid obstacles.

Description

technical field [0001] This application relates to the technical field of UAV track planning, in particular to a method and system for UAV obstacle avoidance based on velocity potential field. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an unmanned aircraft that relies on autonomous control or wireless remote control. In recent years, with the development of UAV-related technologies, UAVs have gradually entered the civilian field from the military field, especially in agricultural plant protection, civilian aerial photography, formation performances and other occasions. [0003] As a highly maneuverable, automated and intelligent flying device, drones need to plan their trajectory during flight to ensure that drones avoid obstacles and reach the target point efficiently. Perfect trajectory planning and automatic obstacle avoidance can greatly reduce the damage caused by collisions of UAVs, and at the same time improve the success rate of UAVs in complex e...

AI Technical Summary

Problems solved by technology

[0006] At present, the artificial potential field method can solve real-time path planning and avoid low-speed moving obstacles during UAV flight, but cannot deal with real-time, high-speed moving obstacles, especially when the speed of obstacles is close to or even greater than the flying speed of UAVs. obstacle avoidance problem

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