基于Dubins路径的无人机避障规划算法

研究了一种基于Dubins路径的无人机的避障规划算法. 通过采用遗传算法，结合无人机的飞行性能和最小转弯半径，提出了一种在已知障碍空间位置前提下的无人机路径规划方法，并通过算法改进，将其推广成为在未知障碍位置等先验知识的前提下的无人机实时避障算法. 仿真结果表明，该算法原理正确，对于多障碍环境下无人机避障策略的获取具有较好效果. 

Obstacle Avoidance Planning Algorithm for UAV Based on Dubins Path

A new obstacle avoidance algorithm based on Dubins path was presented for unmanned aerial vehicle (UAV). Considering the aviation performances and the least swerve radius of UAV, adopting genetic algorithm (GA), a path planning method was established to get the optimal path while all the obstacles' positions were known. The algorithm was improved so as to solve the problems that the obstacles' positions were still unknown, and made the UAV have the ability of real-time obstacle avoidance. The simulation results showed that the principles of these algorithms are correct, and UAV can be guided to the intended target reliably with these methods shown in this article.