Local path planning algorithm for UAV based on improved velocity obstacle method

被引：0

作者：

Guo H. ^{[1
]}

Guo X. ^{[1
]}

机构：

[1] School of Aircraft Engineering, Nanchang Hangkong University, Nanchang

来源：

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 11期

关键词：

adaptive threat distance; autono⁃ mous obstacle avoidance; maneuvering obstacle; optimal velocity; path planning; velocity obstacle method;

D O I：

10.7527/S1000-6893.2022.27586

中图分类号：

学科分类号：

摘要：

To solve the real-time and safety problems in UAV local path replanning based on environment awareness，a local path avoidance planning algorithm is proposed based on the improved velocity obstacle method. The traditional velocity obstacle method is extended to the three-dimensional space，and a three-dimensional spatial velocity obstacle model is established to transform the motion uncertainty of maneuvering dynamic obstacles in the velocity space into position uncertainty，with better real-time performance and improved obstacle avoidance level and safety margin. By defining and introducing adaptive threat distance，the utilization rate of the original trajectory of the UAV in the obstacle avoidance process is improved. The optimal speed of spatial autonomous obstacle avoidance is solved using spatial geometric analysis，and dynamic real-time planning of local paths is achieved. The timeliness，feasibility and effective⁃ ness of the algorithm are verified by comparing the simulation results of local path obstacle avoidance planning under three scenarios：encounter，pursuit and crossover. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.

引用

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