火力与指挥控制2025，Vol.50Issue(10)：122-130,9.DOI:10.3969/j.issn.1002-0640.2025.10.015
不规则障碍环境下的无人机避障制导
Obstacle Avoidance Guidance for UAV in Irregular Obstacle Environment
廖欣 1洪瑞阳 2方洋旺 2野汶博2
作者信息
- 1. 西北工业大学无人系统技术研究院,西安 710072||上海机电工程研究所,上海 201109
- 2. 西北工业大学无人系统技术研究院,西安 710072
- 折叠
摘要
Abstract
Aiming at the problems of insufficient obstacle avoidance ability,weak target navigation and slow obstacle avoidance speed of UAV when performing flight tasks in irregular obstacle scenes,a method of obstacle avoidance guidance for UAV in irregular obstacle environments was proposed.In this method,the irregular obstacle area is equivalent to an elliptical obstacle,and a quadratic optimization problem with constraints is constructed based on the control obstacle function and the traditional proportional guidance law.By solving this optimization problem,the obstacle avoidance guidance law of UAV is obtained.The simulation results show that the irregular obstacle is equivalent to an ellipse,which can quickly complete the flight obstacle avoidance task in a dense obstacle environment,effectively avoid the difficult problem to solve under multiple constraints,and the solution speed is faster,the security is higher,and the robustness is stronger.关键词
无人机/避障控制/制导律/不规则障碍物/控制障碍函数Key words
UAV/obstacle avoidance control/guidance law/irregular obstacles/control barrier function分类
武器工业引用本文复制引用
廖欣,洪瑞阳,方洋旺,野汶博..不规则障碍环境下的无人机避障制导[J].火力与指挥控制,2025,50(10):122-130,9.
