无人机自主防碰撞控制器设计

摘要

In order to make Unmanned Aerial Vehicle ( UAV) avoid unexpected static obstacles effec-tively,a method for design a controller of autonomous collision avoidance based on EKF-OSA was proposed . First,the relative motion model between an UAV and the static obstacle was built up .Then,the Extended Kalman Filter ( EKF) was applied to estimate the state of the obstacle,and the rule of avoiding collision with unexpected static obstacles was presented .A guidance law based on One-Step-Ahead ( OSA) optimization method was designed for collision avoidance .The simulation results veri-fied the effectiveness of the proposed approach.%为了使无人机能够有效地规避突发静态障碍物，提出一种基于EKF-OSA的自主防碰撞控制器设计方法。首先建立无人机与障碍物的相对运动方程，采用扩展卡尔曼滤波算法（EKF）估计障碍物状态，并提出突发静态障碍物碰撞规避规则；然后，设计一种基于提前一步（ OSA）优化方法的导引律。仿真结果验证了所提方法的有效性。