Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

Abstract

Autonomous anticollision of unmanned aerial vehicle (UAV) is one of the key technologies to realize intelligent decision-making and autonomous control, and it is of great significance to improve the flight safety and survivability of UAV in complex environment. Firstly, the UAV autonomous anticollision system configuration is constructed in this paper, and the UAV autonomous anticollision problem and related models are described. Then, the potential collision conflict prediction rules are defined, and a practical three-dimensional collision conflict prediction method is proposed. Finally, the UAV autonomous avoidance decision-making method is designed by using the optimization theory, and the corresponding simple and feasible flight control law is put forward. Numerical simulation results show that the proposed method can ensure the flight safety of UAV by relying on autonomous decision-making and control strategy, so as to realize the autonomous anticollision between a single UAV and non-cooperative dynamic obstacles in three-dimensional airspace.

Dynamic smooth and stable obstacle avoidance for unmanned aerial vehicle based on collision prediction

“…To solve the local minimum and oscillation problems of a typical APF method, the authors optimized the repulsive force structure and gravitational gain coefficient to provide a safe and high-precision flight trajectory. 38 A new 3D dynamic obstacle collision prediction rule is proposed to realize 3D collision prediction, as shown in Equations ( 34) and (35).…”

“…In the simulation, it was assumed that the obstacle was a sphere 38 with a radius of approximately 10 cm and the mass m obs = 1 kg. Windward area S a = 0.06 m 2 .…”

“…In the simulation, it was assumed that the obstacle was a sphere 38 with a radius of approximately 10 cm and the mass $$$ {m}_{obs}=1\ \mathrm{kg} $$$. Windward area $$$ {S}_a=0.06\ {\mathrm{m}}^2 $$$.…”

“…To solve the local minimum and oscillation problems of a typical APF method, the authors optimized the repulsive force structure and gravitational gain coefficient to provide a safe and high‐precision flight trajectory. The improved VO method 38 …”