基于无线信号接收强度定位的无人机群避碰

摘要

Collision avoidance is extremely important for UAV flight.When the UAV does not have accurate position information,and especially the UAV global positioning system (GPS) signal failures,collision avoidance must be proposed to control the UAV's flight.This paper presents analysis of collision detection,based on collision probability calculated from distance measurement,given the received radio frequency signal strength,and proposes orthogonal rules to modify the UAVs' predefined flight routes for collision avoidance.Theoretical analysis and experimental results demonstrate the validity of the collision avoidance strategy to provide safe flight routes for UAVs.%碰撞避免算法对无人机群的安全飞行极其重要.当无人机无法获得准确的定位信息,特别是其全球定位系统(GPS)信号失效时,更需要准确高效的碰撞躲避和控制算法.利用无人机的无线射频信号,根据信号强度估算无人机间的距离和飞行信息,计算碰撞概率,采用正交规则修改预设的飞行路线,提出完整的无人机碰撞避免系统方法.理论分析和实验测试结果证实了此避碰策略的有效性,从而使无人机获得安全的飞行路线.