一种避障场景下的快速航迹恢复算法

doi:10.11896/jsjkx.230400015

Computer Science ›› 2024, Vol. 51 ›› Issue (6): 331-337.doi: 10.11896/jsjkx.230400015

• Artificial Intelligence • Previous Articles Next Articles

Fast Path Recovery Algorithm for Obstacle Avoidance Scenarios

MA Yinghong¹, LI Xu’nan¹, DONG Xu², JIAO Yi³, CAI Wei⁴, GUO Youguang⁴

1 School of Telecommunications Engineering,Xidian University,Xi’an 710071,China
2 China Electronics Systems Engineering Corporation,Beijing 100000,China
3 School of Telecommunicaiton and Information Engineering,Xi’an University of Posts and Telecommunications,Xi’an 710121,China
4 China Academy of Aerospace Aerodynamics,Beijing 100074,China

Received:2023-04-03 Revised:2023-07-27 Online:2024-06-15 Published:2024-06-05
About author:MA Yinghong,born in 1981,Ph.D,associate professor.Her main research interests include UAV mission planning,artificial intelligence,edge computing and wireless network technology.
Supported by:
Basic Scientific Research Program in the 14th Five-Year Plan(JCKY2020203XXXX).

Abstract

Abstract: A fast path recovery algorithm for unmanned aerial vehicles(UAVs) in obstacle avoidance scenarios is proposed to address the shortcomings of most existing obstacle avoidance algorithms that lack consideration for UAV path recovery,and a few path recovery algorithms have poor recovery effects.Taking into account environmental constraints and UAV maneuverability constraints,a safe and efficient UAV obstacle avoidance and path recovery path is planned by rotating the coordinate system,determining the turning direction of the UAV,and calculating the coordinates of multiple key path points throughout the entire obstacle avoidance and path recovery process using the binary method.The comparative experimental results show that the fast path recovery algorithm can plan shorter obstacle avoidance and path recovery paths,and the obstacle avoidance can start at the track points closer to the obstacle.The obstacle avoidance and path recovery time is shorter,the path deviation is smaller,and the overall path is better.This is more advantageous for most reconnaissance scenarios where UAVs need to cruise along off-line paths as much as possible.

Key words: Unmanned aerial vehicle, Path planning, Obstacle avoidance, Path recovery, Rotating coordinate

CLC Number:

TP391

MA Yinghong, LI Xu’nan, DONG Xu, JIAO Yi, CAI Wei, GUO Youguang. Fast Path Recovery Algorithm for Obstacle Avoidance Scenarios[J].Computer Science, 2024, 51(6): 331-337.

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