摘要
针对无人机不规则障碍物场景下执行飞行任务时存在避障能力不足,目标导航性弱,避障速度慢等问题,提出一种不规则障碍环境下的无人机避障制导方法。将不规则障碍区域等效成椭圆障碍物,基于控制障碍函数和传统的比例导引律,构建出带有约束条件的二次优化问题,通过求解此优化问题获得无人机避障制导律。对无人机进行不规则障碍避障制导过程仿真,结果表明,将不规则障碍物等效成椭圆能够快速完成密集障碍环境下的飞行避障任务,有效避免多约束条件下求解难的问题,求解速度更快,安全性更高,鲁棒性更强。
Aiming at the problems of insufficient obstacle avoidance ability,weak target navigation and slow obstacle avoidance speed of UAV when performing flight tasks in irregular obstacle scenes,a method of obstacle avoidance guidance for UAV in irregular obstacle environments was proposed.In this method,the irregular obstacle area is equivalent to an elliptical obstacle,and a quadratic optimization problem with constraints is constructed based on the control obstacle function and the traditional proportional guidance law.By solving this optimization problem,the obstacle avoidance guidance law of UAV is obtained.The simulation results show that the irregular obstacle is equivalent to an ellipse,which can quickly complete the flight obstacle avoidance task in a dense obstacle environment,effectively avoid the difficult problem to solve under multiple constraints,and the solution speed is faster,the security is higher,and the robustness is stronger.
作者
廖欣
洪瑞阳
方洋旺
野汶博
LIAO Xin;HONG Ruiyang;FANG Yangwang;YE Wenbo(Unmanned System Research Institute Northwestern Polytechnical University,Xi’an 710072,China;Shanghai Institute of Mechanical and Electrical Engineering,Shanghai 201109,China)
出处
《火力与指挥控制》
北大核心
2025年第10期122-130,共9页
Fire Control & Command Control
关键词
无人机
避障控制
制导律
不规则障碍物
控制障碍函数
UAV
obstacle avoidance control
guidance law
irregular obstacles
control barrier function
