基于扰动流体的无人机空中自主避撞算法

摘要

针对无人机（ UAV）飞行时与其他飞行器发生冲突的问题，提出了基于扰动流体的避撞航路规划算法。基于入侵飞机的运动信息引入相对初始流场，用扰动矩阵量化表示入侵机模型对相对初始流场的扰动影响，计算相对扰动流场，进而得到实际流场流线即规划的无人机避撞航路。同时利用滚动优化思想，考虑无人机性能约束要求，实时优化影响系数，保证规划航路的可飞性。仿真结果表明，该算法能够实时规划出满足无人机可飞性要求的避撞航路。%Considering the fight conflict problems between Unmanned Aerial Vehicles ( UAVs) and other aircrafts,we proposed a novel path planning algorithm without collision based on the disturbance fluid.The relative initial fluid is constructed based on the movement information of intruder.Then,the influence of intruder on the relative initial fluid is quantized by the disturbance matrix.The relative modified flow is obtained by the modulated relative initial fluid,and then the actual streamline is obtained,which is the planned flight path without collision.Meanwhile,considering the UAV’s performance constraint,dynamic optimization is made to the reactivity parameter by using the receding horizon optimization method to ensure that the planned path is flyable.Simulation result shows that the algorithm can make real-time path planning with collision avoidance,which can satisfy the requirements of UAVs.