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改进速度障碍法的无人机局部路径规划算法

郭华,郭小和   

  1. 南昌航空大学
  • 收稿日期:2022-06-08 修回日期:2022-09-30 出版日期:2022-10-14 发布日期:2022-10-14
  • 通讯作者: 郭小和

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

  • Received:2022-06-08 Revised:2022-09-30 Online:2022-10-14 Published:2022-10-14

摘要: 针对无人机基于环境感知进行局部路径再规划的实时与安全性问题,提出一种基于改进速度障碍法的局部路径避障规划算法。将传统速度障碍法拓展到三维空间中,建立三维空间速度障碍模型,通过引入和定义自适应威胁距离,提高了无人机避障安全裕度;考虑障碍物运动不确定性,将机动性动态障碍物在速度空间中的运动不确定转化为位置不确定,实时性更好,提高了避障水平;利用空间几何分析,求解无人机空间自主避障的最优速度,实现局部路径动态实时规划。通过对相遇、追击和交叉三种场景的局部路径避障规划仿真结果比较分析,验证了该算法的实时性、可行性和有效性。

关键词: 局部路径规划, 速度障碍法, 自适应威胁距离, 机动性障碍物, 自主避障, 最优速度

Abstract: Based on the real-time and safety problems of UAV for local path replanning based on environmental perception, a local path obstacle avoidance planning algorithm based on the improved speed obstacle method is proposed. Expand the traditional speed obstacle method to 3 D space, establish 3 D speed obstacle model, transform the movement uncertainty of mobility dynamic obstacles in speed space into position uncertainty, improve the real-time performance, and improve the obstacle avoidance level and the safety margin; define and improve the utilization rate of local path dynamics. The real-time performance, feasibility, and effectiveness of the proposed algorithm are verified.

Key words: local path planning, velocity obstacle method, adaptive threat distance, maneuverable obstacle, auton-omous obstacle avoidance, optimal speed

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