结合预设航线的多旋翼无人机避障算法

针对现有多旋翼无人机使用人工势场法进行避障的研究中,仅考虑目标点的安全抵达,少有考虑按预设航线飞行的作业需求,通过在人工势场法中赋予航线"线势场",将多旋翼无人机的避障与航线飞行进行结合,使无人机避障之后能重回航线.针对传统势场法中的引力场并不适用于无人机,对引力场进行了改进.解决了引入"线势场"后容易导致无人机陷入局部极小点的问题,通过仿真验证了上述改进的效果.

Obstacle avoidance algorithm of multi-rotor UAV considering planned path

Aiming at problem that most research on obstacle avoidance of multi-rotor unmanned aerial vehicle (UAV)using artificial potential field (APF )method,only consider the safe arrival to the target point,rarely considering the actual need of flying on planned path,by giving planned path a"line potential field"in APF algorithm,the obstacle avoidance and planned-path flying are combined,so that the UAV is able to return to the planned path after avoiding obstacle. Considering the UAV has a wide movement range,the Attractive Potential Field in traditional APF method does not apply well to the UAV,so the Attractive Potential Field is improved. It is also found that the introduction of"Line Potential Field"can easily lead UAV fall into the local optimum. After analyzing on this problem,this problem is solved by improving the repulsive potential field (RPF ). Simulation verify the effect iveness of aboved impoved improvement.