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首页> 外文期刊>The Aeronautical Journal >Collision avoidance within flight dynamics constraints for UAV applications
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Collision avoidance within flight dynamics constraints for UAV applications

机译：无人机应用在飞行动力学约束内避免碰撞

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Avoiding collisions with other aircraft is an absolutely fundamental capability for semi-autonomous UAVs. However, an aircraft avoiding moving obstacles requires an evasive tactic that is simultaneously very quick to compute, compatible with the platform's flight dynamics, and deals with the subtle spatio-temporal features of the threat. We will give an overview of a novel prototype method of rapidly generating smooth flight-paths constrained to avoid moving obstacles, using an efficient trajectory-optimisation technique. Obstacles are described in terms of simple geometrical shapes, such as ellipsoids, whose centres and shapes can vary with time. The technique generates a spatio-temporal trajectory which offers a high likelihood of avoiding the volume in space-time excluded by the predicted motion of each of the known obstacles. Such a flight-path could then be passed to the aircraft's flight-control systems to negotiate the threat posed by the obstacles. Results from a demonstration implementation of the collision-avoidance technique will be discussed, including non-trivial scenarios handled well within 100ms on a 300MHz processor.
机译：避免与其他飞机相撞是半自动无人机的绝对基本能力。但是，要避免移动障碍物，飞机就需要一种规避战术，这种规避策略必须能够快速计算，与平台的飞行动力学兼容，并能应对威胁的细微时空特征。我们将概述一种新颖的原型方法，该方法使用有效的轨迹优化技术快速生成被限制为避免移动障碍物的平滑飞行路径。用简单的几何形状（例如椭圆形）描述障碍物，其中心和形状会随时间变化。该技术产生时空轨迹，提供了避免每个已知障碍物的预测运动所排除的时空体积的高可能性。然后，可以将这种飞行路径传递到飞机的飞行控制系统，以协商障碍物所构成的威胁。将讨论避免碰撞技术的演示实现结果，包括在300MHz处理器上100ms内能很好处理的非平凡场景。

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