在复杂动态环境下,为了保证无人飞行器(Unmanned Aerial Vehicle,UAV)能够安全无碰地抵达目标点,提高UAV飞行的安全性和可靠性,提出一种二维空间的自主实时避障算法.算法将威胁判断问题转化为一元二次方程解的存在性问题,同时在可能发生碰撞的前提下得到了最小碰撞发生时间,依据目标点的位置信息确定了UAV的期望速度方向,同时考虑UAV的过载约束,在每次仿真循环中将可选速度区间进行二等分,并依据惩罚因子最小的原则确定避障速度.仿真结果验证了上述避障方法的有效性和可行性.%In order to improve the security and reliability of UAV flight in complex dynamic environment,a UAV real-time obstacle avoidance algorithm is proposed,which transforms the threat judgment into the existence of solutions to the unary quadratic equation,and the minimum collision time is obtained if there is a collision.According to the position information of the target point,the expected velocity direction of UAV is determined.At the same time,the selectable velocity interval is halved in each simulation cycle considering the overload constraints of UAV,and determine the obstacle avoidance velocity based on the principle of the minimum penalty factor.Simulation results show the effectiveness and feasibility of the method.
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