文档介绍:: .
计算机科学 (******@)
摘 要 三维空间中,面对移动的障碍物,无人机如何进行运动规划是一个很有趣的研究方向。在动态环境
下,传统的基于速度障碍物的算法主要针对二维机器人。用机器人的可达速度集减去导致碰撞的速度集,
然后选取合适的速度实现避障动作。根据无人机和障碍物的当前位置和速度进行泛化的三维矢量运算,计
算导致碰撞的速度集合。依据无人机制动器的最大速度和最大加速度,对其当前时刻可达到的速度空间进
行约束。在这个相减集合中,依据场景的需求制定相应的策略并选取合适的速度,实现三维场景下的回避
障碍物规划。针对被抽象为球状的无人机在三维空间下躲避球状障碍物行驶至终点的场景,在虚幻四引擎
中结合 C++编程和图形化编程实现了避障算法并进行验证。通过捕捉不同策略的运动轨迹,度量其耗时,
有效地验证了所提算法能够完成无人机在三维空间下的动态障碍物回避任务。
关键词: 动态环境;碰撞回避;运动规划;速度障碍物;可达速度集
中图法分类号 TP242
Collision Avoidance Planning for Unmanned Aerial Vehicles Based
on Spatial Motion Constraints
LUO Xiong-feng and ZHAI Xiang-ping
College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing
211106, China
Abstract In three-dimensional space, how to conduct motion planning when unmanned aerial vehicles (UAV) facing moving obstacles
is an interesting research direction. In dynamic environments, traditional algorithms based on the speed obstacles mainly aim at two-
dimensional robots, which realizes obstacle avoidance actions by selecting velocities from the reachable velocity set out of the collision
velocity set. This paper generalizes algorithms based on the current positions and velocities of UAV and obstacles to calculate the set of
velocities that will cause collisions. According to the maximum speed and maximum acceleration of UAV,