面向未知环境的无人机障碍规避制导律设计

针对未知障碍规避问题给出了一种障碍规避制导律。将参考点航路跟踪制导法(reference point guidance, RPG)进行改进作为障碍规避制导律,对无人机与障碍的相对运动关系进行分析,确定了规避制导的时机和参考点选取的原则,用非线性微分方程对障碍规避过程进行建模,在此基础上分析了制导参数对系统性能的影响,确定了参数选取原则。仿真结果表明,改进后的RPG能够引导无人机安全规避突发或未知的几何形状不规则的障碍,能够避免不同任务阶段制导律切换过程中存在的安全隐患。

UAV guidance law for obstacle avoidance in unknown environment

A guidance law of unmanned aerial vehicle (UAV) flying in environment where unknown obstacle can be encountered is proposed. The guidance law is adapted from the reference point guidance (RPG) method, which has been widely used in path following. The analysis of relative motion between UAV and obstacle is extended to give the substratum for avoidance opportunities and reference points selection. On the basis of modeling the avoidance process by nonlinear differential equations, the foundation for parameter selection is established by analyzing the impacts of the parameters on the system performance. Simulations showed that the UAV could avoid pop up/unknown obstacles with irregular geometrical shape safely under the guidance of modified RPG, and could refrain from the danger during the switch of guidance law for different mission.