Obstacle Avoidance Algorithm for UAVs in Unknown Environment based on Distributional Perception and Decision Making

被引：0

作者：

Xu, Zhuofan ^{[1
]}

Wei, Ruixuan ^{[1
]}

Zhang, Qirui ^{[1
]}

Zhou, Kai ^{[1
]}

He, Renke ^{[1
]}

机构：

[1] Air Force Engn Univ Aeronaut & Astronaut Coll, Xian 710038, Peoples R China

来源：

2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC) | 2016年

关键词：

UAV; Obstacle avoidance; Distributional perception and decision making; REACTIVE COLLISION-AVOIDANCE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Guaranteeing the flight with safety and efficiency for UAVs in unknown environment is one of the most important problems for researchers. In this paper, a novel obstacle avoidance algorithm for UAVs in unknown environment based on distributional perception and decision making is proposed, where the obstacle avoidance problem is divided into two parts: distributional decision making and global decision making. The global optimal obstacle avoidance path is get with mission completed safely at last. The simulation shows the algorithm proposed is capable of solving the obstacle avoidance problem for UAVs in the unknown environment and is valuable to improve the perception and decision making ability of UAVs.

引用

页码：1072 / 1075

页数：4

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