The invention discloses an instantaneous
impact point based unmanned aerial vehicle non-collaborative real-time
obstacle avoidance method. The instantaneous
impact point based unmanned aerial vehicle non-collaborative real-time
obstacle avoidance method comprises the steps of 1 performing obstacle detection, namely obtaining a
relative motion state of an obstacle, 2 performing obstacle
motion estimation, namely obtaining
machine state information based on
satellite navigation information and calculating a motion state of an inertial space obstacle, 3 performing
impact conflict detection, namely judging whether obstacle impact occurs or not, 4 performing
obstacle avoidance decision making, namely making an obstacle avoidance decision based on a detection result in the step 3, 5 performing obstacle avoidance
route re-planning based on a quick expanding
random tree algorithm considering an instantaneous impact point, namely introducing
route evaluation
heuristic information based on the instantaneous impact point and achieving obstacle avoidance
route re-planning. The instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method has the advantages of being simple in principle, easy to achieve, capable of improving unmanned aerial
vehicle safety and the like.