摘要
Aiming at the problem of autonomous obstacle avoidance of fixed-wing UAVs in a complex, dense and multi-obstacle environment, a path planning algorithm for fixed-wing UAVs based on a safe flight corridor is proposed. The difficulty of avoiding dense obstacles lies in the choice of obstacle circumvention and traversal: although circumvention is safer, the flight cost is greater; although the traversal cost is lower, the safety threat is higher. How to quickly solve the optimal path is the core issue. This paper firstly defines a safe flight corridor innovatively based on the maneuvering characteristics of fixed-wing UAVs and the Dubins curves. By comprehensively considering UAV flight safety and flight costs, an obstacle threat evaluation function is constructed. Secondly, in view of the computational complexity caused by the dense obstacles, an obstacle clustering algorithm based on obstacle density is proposed, and the nonlinear evaluation function in a high dynamic environment is quickly approximated by Monte Carlo sampling method. Finally, simulations verify the effectiveness of the proposed algorithm in solving dense obstacle avoidance for fixed-wing UAVs.
投稿的翻译标题 | A dense obstacle avoidance algorithm for UAVs based on safe flight corridor |
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源语言 | 繁体中文 |
页(从-至) | 1288-1296 |
页数 | 9 |
期刊 | Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University |
卷 | 40 |
期 | 6 |
DOI | |
出版状态 | 已出版 - 1 12月 2022 |
关键词
- Dubins curves
- fixed-wing UAV
- flight corridor
- Monte Carlo sampling method
- obstacle avoidance