计算机科学 ›› 2024, Vol. 51 ›› Issue (6): 331-337.doi: 10.11896/jsjkx.230400015
马英红1, 李续楠1, 董旭2, 焦毅3, 蔡伟4, 郭有光4
MA Yinghong1, LI Xu’nan1, DONG Xu2, JIAO Yi3, CAI Wei4, GUO Youguang4
摘要： 针对现有大部分避障场景中无人机避障算法未考虑无人机航迹恢复、少数航迹恢复算法恢复效果不佳的缺点,提出了一种避障场景下的无人机快速航迹恢复算法。综合考虑环境约束与无人机机动性能约束,通过旋转坐标系、判断无人机转弯方向、利用二分法对无人机整个避障及航迹恢复过程中的多个关键航迹点坐标进行计算,最终规划出一条安全高效的无人机避障及航迹恢复航迹。对比实验结果表明,快速航迹恢复算法规划出的避障及航迹恢复航迹更短,可以在距离障碍物更近的航迹点开始避障,避障及航迹恢复用时更短,航迹偏离度更小,整体航迹更优,对于绝大多数侦察场景中无人机需尽量保持沿离线航迹巡航的情况更加有利。
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