导航

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (11): 327586-327586.doi: 10.7527/S1000-6893.2022.27586

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

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

Hua GUO, Xiaohe GUO()   

  1. School of Aircraft Engineering,Nanchang Hangkong University,Nanchang 330000,China
  • Received:2022-06-08 Revised:2022-07-28 Accepted:2022-09-29 Online:2023-06-15 Published:2022-10-14
  • Contact: Xiaohe GUO E-mail:34009@nchu.edu.cn

Abstract:

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 effectiveness of the algorithm are verified by comparing the simulation results of local path obstacle avoidance planning under three scenarios: encounter, pursuit and crossover.

Key words: path planning, velocity obstacle method, maneuvering obstacle, adaptive threat distance, autonomous obstacle avoidance, optimal velocity

CLC Number: