基于改进A*的扑翼无人机三维动态避障算法
Three-dimensional Dynamic Obstacle Avoidance Algorithm for Flapping-wing UAV Based on Improved A
史春景 1张思广 1王俊杰1
作者信息
摘要
随着无人机的发展,扑翼无人机的应用任务也越来越复杂.在飞行过程中,无人机会受到高层建筑、飞行的鸟类等静态与动态未知障碍物的干扰,明显影响扑翼飞行器的路径规划效率.因此,针对复杂未知动态环境下扑翼无人机的路径规划的低效寻路不可靠、避障速度慢的问题,提出了A*-RVO(Reciprocal Velocity Obstacles)联合算法实现三维动态高效避障.对传统A*进行改进,改进后的A*可以探索静态障碍并规划出平滑可靠的全局路径;设计联合RVO算法实现动态实时避障.通过比较仿真实验体现出改进算法的灵活性.
Abstract
With the development of unmanned aerial vehicles(UAVs),the application tasks of flapping-wing UAVs have become more and more complicated.During the flight process,UAVs will be interfered by static and dynamic unknown obstacles such as high-rise buildings,flying birds,etc.,which obviously affects the path planning efficiency of flapping-wing aerial vehicles.Therefore,to address the problems of inefficient path-finding unreliability and slow obstacle avoidance speed of path planning for flapping-wing UAVs in complex unknown dynamic environments,the A*-RVO(Reciprocal Velocity Obstacles)joint algorithm to realize three-dimensional dynamic and efficient obstacle avoidance.The traditional A* is improved to explore static obstacles and plan a smooth and reliable global path;the joint RVO algorithm is designed to realize dynamic real-time obstacle avoidance.The flexibility of the improved algorithm is demonstrated through comparative simulation experiments.
关键词
无人机/改进A*算法/动态避障/速度障碍法/路径规划Key words
unmanned aircraft/improved A* algorithm/dynamic obstacle avoidance/velocity obstacle method/path planning引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据