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首页> 外文期刊>Applied Sciences >Research on the Collision Avoidance Algorithm for Fixed-Wing UAVs Based on Maneuver Coordination and Planned Trajectories Prediction
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Research on the Collision Avoidance Algorithm for Fixed-Wing UAVs Based on Maneuver Coordination and Planned Trajectories Prediction

机译：基于机动配合和计划航迹预测的固定翼无人机防撞算法研究

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This paper presents a novel collision avoidance (CA) algorithm for a cooperative fixed-wing unmanned aerial vehicle (UAV). The method is based on maneuver coordination and planned trajectory prediction. Each aircraft in a conflict generates three available maneuvers and predicts the corresponding planned trajectories. The algorithm coordinates planned trajectories between participants in a conflict, determines which combination of planned trajectories provides the best separation, eventually makes an agreement on the maneuver for collision avoidance and activates the preferred maneuvers when a collision is imminent. The emphasis is placed on providing protection for UAVs, while activating maneuvers late enough to reduce interference, which is necessary for collision avoidance in the formation and clustering of UAVs. The CA has been validated with various simulations to show the advantage of collision avoidance for continuous conflicts in multiple, high-dynamic, high-density and three-dimensional (3D) environments. It eliminates the disadvantage of traditional CA, which has high uncertainty, and takes the performance parameters of different aircraft into consideration and makes full use of the maneuverability of fixed-wing aircraft.
机译：本文提出了一种新颖的协作固定翼无人飞行器（UAV）的避碰（CA）算法。该方法基于机动协调和计划的轨迹预测。冲突中的每架飞机都会生成三个可用的演习，并预测相应的计划航迹。该算法协调冲突中参与者之间的计划轨迹，确定哪种计划轨迹组合可提供最佳分离，最终就避免冲突的操作达成协议，并在即将发生碰撞时激活首选操作。重点放在为无人机提供保护上，同时足够晚地激活演习以减少干扰，这对于避免无人机的形成和聚类中的碰撞是必要的。该CA已通过各种仿真验证，显示出避免碰撞的优点是在多个，高动态，高密度和三维（3D）环境中连续发生冲突。它消除了传统CA的不确定性的缺点，并考虑了不同飞机的性能参数，并充分利用了固定翼飞机的机动性。

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