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在多个无人飞行器(UAV)进行避障时,各个UAV通常将其他UAV当作移动障碍物进行处理,忽略了其他UAV也会根据自身传感器获知的周围环境信息做出相应的避障机动,规划出的UAV避障路径不可避免出现震颤,针对这一问题,提出了一种基于互惠速度障碍法的避障算法。避障时,不需UAV之间进行通信,每个UAV独立进行同样的避障决策,计算量少,实时性好,能够满足多UAV在线避障的要求。仿真结果验证了本方法的可行性和有效性。
When a plurality of UAVs avoid obstacles, each UAV usually treats other UAVs as moving obstacles, and ignores other UAVs to make corresponding obstacle-avoidance maneuvers according to the surrounding information obtained by their own sensors. The planned path of UAV obstacle avoidance tremors inevitably. To solve this problem, an obstacle avoidance algorithm based on the reciprocal speed barrier method is proposed. When the obstacle avoidance, communication between UAVs is not required. Each UAV performs the same obstacle avoidance decision independently, which requires less computation and real-time performance and can meet the requirements of multi-UAV online obstacle avoidance. Simulation results verify the feasibility and effectiveness of this method.