CN110427044A - Based on the unmanned plane conflict probe and conflict Resolution method for improving Speed Obstacles method - Google Patents
Based on the unmanned plane conflict probe and conflict Resolution method for improving Speed Obstacles method Download PDFInfo
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Abstract
The invention discloses a kind of based on the unmanned plane conflict probe and conflict Resolution method that improve Speed Obstacles method comprising: step 1 establishes conflict probe model；Step 2 obtains the condition clashed with Lothrus apterus according to conflict probe model；The position and speed of step 3, unmanned plane perception invasion machine, according to the conditional forecasting clashed with Lothrus apterus: when the condition that satisfaction clashes, the speed of unmanned plane is reselected, until step 4；When the condition for meeting Lothrus apterus, unmanned plane flies by Reciprocal course；It after step 4, conflict Resolution, keeps velocity magnitude when unmanned plane conflict Resolution constant, changes its direction, be allowed to fly towards target point；The present invention solves randomness and easy shake of the Speed Obstacles method when reselecting speed, convert unmanned plane optimum speed, it improves to target point flying speed, do not restore Reciprocal course after conflict Resolution and shortens distance, reduce motor-driven number, B-spline curves are introduced, avoid unmanned plane angle of turn excessive.
Description
Technical field
The present invention relates to a kind of based on the unmanned plane conflict probe and conflict Resolution method that improve Speed Obstacles method, belongs to
Unmanned plane avoidance technical field.
Background technique
In recent years, Development of UAV is swift and violent, is widely used in various tasks, including monitors and scout.The number of unmanned plane
Amount is increasing, and airspace resource is limited, and the probability for causing unmanned plane to clash is increasing, and conflict is to personal and social band
Huge property loss is carried out, so conflict probe becomes more and more important during execution task with technology of freeing.In order to
This problem is solved, many conflict Resolution algorithms are emerged, is flown for avoiding unpredictalbe barrier from suddenly appearing in it
Walking along the street diameter, and correction route quickly can be taken from its scheduled flight path in a short time, to guarantee to fly
The safety of journey.
There are several methods, such as particle swarm algorithm, genetic algorithm etc. for unmanned plane conflict Resolution, these algorithms at present
All it is known to the prediction conflict point in situation, therefore does not have real-time, cannot be used to avoid unpredictalbe barrier prominent
So appear in its flight path.And Speed Obstacles method is a kind of Real Time Obstacle Avoiding algorithm, can be used to avoid unpredictalbe obstacle
Object suddenly appears in its flight path, but when Speed Obstacles method reselects speed has randomness, so according to reciprocal speed
The basic principle of obstruction method is spent to reselect speed, while can also eliminate jitter problem.After the completion of conflict Resolution, take not
Restore the strategy of Reciprocal course, many experts or scholar can calculate track recovery point, restore unmanned plane by Reciprocal course, such as
Shown in Fig. 1, but this will cause the problem of motor-driven number increases and increases path length.
As can be seen from FIG. 1, due to, there is no the constraint for considering angle, unmanned plane being caused to exist in the flight course of unmanned plane
When solving the problems, such as unmanned plane conflict Resolution, angle of turn is very big.
Summary of the invention
It is to be solved by this invention that there is provided a kind of based on the unmanned plane conflict probe for improving Speed Obstacles method and conflict
Solve desorption method.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of unmanned plane conflict probe and conflict Resolution method based on improvement Speed Obstacles method, includes the following steps:
Step 1 establishes conflict probe model on the basis of Speed Obstacles method；
Step 2, the condition that the condition and Lothrus apterus that clash are obtained according to conflict probe model；
Step 3, unmanned plane perception invasion machine position and speed, according to the condition of the condition and Lothrus apterus that clash into
Row prediction:
When the condition that satisfaction clashes, i.e., prediction is when not having some can clash in the time, then according to reciprocal speed
Degree obstruction method reselects the speed of unmanned plane, and enters step 4；
When the condition for meeting Lothrus apterus, i.e. when not having some will not clash in the time, then unmanned plane is by original for prediction
Track flight；
After the completion of step 4, conflict Resolution, keeps velocity magnitude when unmanned plane conflict Resolution constant, change its direction, make
Unmanned plane flies towards target point.
Further, unmanned plane introduces B-spline curves and generates real-time smooth paths during conflict Resolution.Into
One step, in the step 1, the method that conflict probe model is established on the basis of Speed Obstacles method is as follows: 1.1, establishing complete
Office coordinate system XOY, unmanned plane and invasion machine, using unmanned plane center of circle position as origin, are established respectively with symbol A and B representative
Local coordinate system XaUaYa, while in point UaSet up the velocity space；
1.2, unmanned plane A and invasion machine B are encountered in moment t, if { Ra,Pa(t),Va(t) } information for being unmanned plane A
Set, { RB,PB(t),VB(t) } information aggregate for being invasion machine B, wherein Ra、Pa(t)、Va(t) the half of unmanned plane A is respectively indicated
Diameter, the position of t moment and t moment speed, RB、PB(t)、VB(t) radius of invasion machine B, the position of t moment and t are respectively indicated
The speed at moment；If the coordinate of unmanned plane A is (xa,ya), the coordinate of invasion machine B is (xb,yb)；The coordinate of target point is set simultaneously
For (xg, yg)；
1.3, invasion machine B is expanded to radius is ROCircle, while unmanned plane A can be reduced to particle, wherein RO=Ra+
RB；Ray NOWith ray MOBe issued by unmanned plane A by radius be ROCircle two tangent lines；
1.4, calculate unmanned plane A and invasion machine B between related angle, if the value range of related angle be [0,90 °], phase
Closing angle includes angle [alpha], beta angle θ, angle B；Wherein angle [alpha] be unmanned plane A and invasion machine B position line relative to
XaThe deflection of axis, angle beta are the lines of unmanned plane A and invasion machine B relative to ray NODeflection, angle, θ is unmanned plane A
Position line with target point is relative to XaThe deflection of axis, angle B are the speed V of invasion machine BBIt is equivalent to XaThe deflection of axis；
Angle [alpha], angle beta, the calculation formula of angle, θ size are as follows:
Wherein, d indicates the distance between unmanned plane A and invasion machine B, and calculating formula is as follows:
1.5, modeling terminates.
Further, the condition clashed in the step 2 is alpha-beta≤γ≤alpha+beta；The condition of Lothrus apterus is 0≤γ
≤ alpha-beta or
Wherein, angle [alpha] is the position line of unmanned plane A and invasion machine B relative to XaThe deflection of axis；
Angle γ is relative velocity VabRelative to XaThe deflection of axis, VabIt is the speed difference of unmanned plane A and invasion machine B, angle
The calculating formula (5) for spending γ is as follows:
Wherein, VBxIt is the speed V of invasion machine BBAbscissa component, size calculating formula be VBx=VBcos B；
VByIt is the speed V of invasion machine BBOrdinate component, size calculating formula be VBy=VBsin B；
VbestxIt is the optimum speed V of unmanned plane AbestAbscissa component, size calculating formula is
Vbestx=Vacosθ；
VbestyIt is the optimum speed V of unmanned plane AbestOrdinate component, size calculating formula is
Vbesty=Vasinθ。
Further, in the step 3, when the condition that satisfaction clashes, i.e. prediction can be sent out within following a period of time
When raw conflict, then reselect the speed of unmanned plane according to reciprocal Speed Obstacles method, the new speed of the unmanned plane reselected by
Formula (6) calculates:
Wherein, V 'aWhen expression can clash within following a period of time, the new speed of the unmanned plane A reselected；
VaIt is the speed at unmanned plane A current time, VBIt is the speed at invasion machine B current time；
Speed Obstacles are denoted asIf it indicates invasion machine B with speed VBIt advances, in the future a certain moment, will cause
The speed V for the unmanned plane A that unmanned plane A and invasion machine B bump againstaSet.
Further, one group of B-spline curves is generated by the tracing point of historical track point, current time and subsequent time,
The B-spline basic function formula is as follows:
Wherein, n is the number of B-spline, t ∈ [0,1], i=1,2 ..., n；
T ∈ [0,1] indicates that entire path, starting point is 0, and terminating point is 1 as unit 1,It is the arrangement in mathematics
Combination.
Beneficial effects of the present invention are as follows:
The present invention first applies reciprocal Speed Obstacles method in the conflict Resolution problem of unmanned plane, solves Speed Obstacles
Randomness of the method when reselecting speed and the problem of be easy shake, secondly conversion for unmanned plane optimum speed can be with
So that unmanned plane is more rapidly flown towards target point, and after conflict Resolution completion, takes with not restoring Reciprocal course tactful, contracting
Short distance, reduces the motor-driven number of unmanned plane, is finally introducing B-spline curves, generates more smooth real-time conflict solution
De- path, the problem for avoiding the angle of turn of unmanned plane excessive.
Speed Obstacles method is a kind of method for avoiding moving obstacle from colliding based on speed, and simple, intuitive, real-time is good, energy
Enough realize the requirement of online avoidance.Speed Obstacles method achieves good effect in terms of local avoidance, therefore is used to solve nothing
The conflict Resolution problem of people's ship and robot.
The present invention establishes conflict probe model according to the basic principle of Speed Obstacles method, with reciprocal Speed Obstacles method method
Speed is reselected, to shorten path and reducing the motor-driven number of unmanned plane, takes the operation reserve for not restoring Reciprocal course, and
The size of speed when be with velocity magnitude being still conflict Resolution, i.e., do not change the size of speed, only need to change its direction, make nothing
It is man-machine to fly towards target point.Due to, there is no the constraint for considering angle, unmanned plane being caused to exist in the flight course of unmanned plane
When solving the problems, such as conflict Resolution, angle of turn is very big, makes unmanned plane during conflict Resolution so we introduce B-spline,
Generate real-time smooth paths.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the schematic diagram of unmanned plane recovery Reciprocal course after the completion of conflict Resolution.
Fig. 2 does not restore the schematic diagram of Reciprocal course for unmanned plane after the completion of conflict Resolution.
Fig. 3 is unmanned plane avoidance working principle block diagram.
Fig. 4 is the schematic diagram of conflict probe model.
Fig. 5 is the schematic diagram that reciprocal Speed Obstacles method carries out conflict Resolution.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, 1- Fig. 5 and specific embodiment with reference to the accompanying drawing
Clear, complete description is carried out to invention.
The present invention is mainly that reciprocal Speed Obstacles method is applied in conflict probe and the conflict Resolution problem of unmanned plane, institute
The selection that technical problem is (1) unmanned plane optimum speed is solved, since unmanned plane is during flight, speed may be simultaneously
It is not directed towards the optimum speed of target point, the optimum speed towards target point need to be translated into, what how size calculated asks
Topic；(2) unmanned plane need to judge whether there is conflict within following a period of time, and if there is conflict occurs, how again speed
The problem of selection；(3) after completing conflict Resolution, to shorten the operation plan that the motor-driven number in path and reduction unmanned plane is taken
Slightly；(4) due to unmanned plane, unsuitable angle of turn is excessive in flight course, generates real-time unmanned plane using B-spline curves and rushes
Prominent the problem of freeing path.
The basic principle of Speed Obstacles method: opposite by judging as long as calculating unmanned plane A and invading the relative velocity of machine B
Whether the direction of speed carries out conflict judgement in the sector that width both is the sum of radius, if relative velocity is touched opposite
Region or absolute collision area are hit, can be clashed within following a period of time, needs to reselect speed to conflict
It frees.
During execution task, unmanned plane wants continually changing environment around real-time detection, perceives other unmanned planes etc.
The speed of dynamic barrier and position carry out conflict judgement, to complete conflict Resolution, if there is conflict, carry out conflict solution
It is de-, it otherwise flies by Reciprocal course, working principle is as shown in Figure 3.
A kind of unmanned plane conflict probe and conflict Resolution method based on improvement Speed Obstacles method, includes the following steps:
Step 1 establishes conflict probe model on the basis of Speed Obstacles method；
Step 2, the condition that the condition and Lothrus apterus that clash are obtained according to conflict probe model；
Step 3, unmanned plane perception invasion machine position and speed, according to the condition of the condition and Lothrus apterus that clash into
Row prediction:
When the condition that satisfaction clashes, i.e., prediction is when not having some can clash in the time, then according to reciprocal speed
Degree obstruction method reselects the speed of unmanned plane, and enters step 4；
When the condition for meeting Lothrus apterus, i.e. when not having some will not clash in the time, then unmanned plane is by original for prediction
Track flight；
After the completion of step 4, conflict Resolution, keeps velocity magnitude when unmanned plane conflict Resolution constant, change its direction, make
Unmanned plane flies towards target point.
Further, unmanned plane introduces B-spline curves and generates real-time smooth paths during conflict Resolution.Into
One step, in the step 1, the method that conflict probe model is established on the basis of Speed Obstacles method is as follows:
1.1, global coordinate system XOY is established, unmanned plane and invasion machine are respectively with symbol A and B representative, with unmanned plane center of circle institute
It is set to origin in place, establishes local coordinate system XaUaYa, while in point UaSet up the velocity space；
1.2, unmanned plane A and invasion machine B are encountered in moment t, if { Ra,Pa(t),Va(t) } information for being unmanned plane A
Set, { RB,PB(t),VB(t) } information aggregate for being invasion machine B, wherein Ra、Pa(t)、Va(t) the half of unmanned plane A is respectively indicated
Diameter, the position of t moment and t moment speed, RB、PB(t)、VB(t) radius of invasion machine B, the position of t moment and t are respectively indicated
The speed at moment；If the coordinate of unmanned plane A is (xa,ya), the coordinate of invasion machine B is (xb,yb)；The coordinate of target point is set simultaneously
For (xg, yg)；
1.3, invasion machine B is expanded to radius is ROCircle, while unmanned plane A can be reduced to particle, wherein RO=Ra+
RB；Ray NOWith ray MOBe issued by unmanned plane A by radius be ROCircle two tangent lines；
1.4, related angle between unmanned plane A and invasion machine B is calculated, if the value range of related angle is [0,90 °], phase
Closing angle includes angle [alpha], beta angle θ, angle B；Wherein angle [alpha] be unmanned plane A and invasion machine B position line relative to
XaThe deflection of axis, angle beta are the lines of unmanned plane A and invasion machine B relative to ray NODeflection, angle, θ is unmanned plane A
Position line with target point is relative to XaThe deflection of axis, angle B are the speed V of invasion machine BBIt is equivalent to XaThe deflection of axis；
Angle [alpha], angle beta, the calculation formula of angle, θ size are as follows:
Wherein, d indicates the distance between unmanned plane A and invasion machine B, and calculating formula is as follows:
1.5, modeling terminates.
Further, the condition clashed in the step 2 is alpha-beta≤γ≤alpha+beta；The condition of Lothrus apterus is 0≤γ
≤ alpha-beta or
Wherein, angle [alpha] is the position line of unmanned plane A and invasion machine B relative to XaThe deflection of axis；
Angle γ is relative velocity VabRelative to XaThe deflection of axis, VabIt is the speed difference of unmanned plane A and invasion machine B, angle
The calculating formula (5) for spending γ is as follows:
Wherein, VBxIt is the speed V of invasion machine BBAbscissa component, size calculating formula be VBx=VBcos B；
VByIt is the speed V of invasion machine BBOrdinate component, size calculating formula be VBy=VBsin B；
VbestxIt is the optimum speed V of unmanned plane AbestAbscissa component, size calculating formula is
Vbestx=Vacosθ；
VbestyIt is the optimum speed V of unmanned plane AbestOrdinate component, size calculating formula is
Vbesty=Va sinθ。
Further, in the step 3, when the condition that satisfaction clashes, i.e. prediction can be sent out within following a period of time
When raw conflict, then reselect the speed of unmanned plane according to reciprocal Speed Obstacles method, the new speed of the unmanned plane reselected by
Formula (6) calculates:
Wherein, V 'aWhen expression can clash within following a period of time, the new speed of the unmanned plane A reselected；
VaIt is the speed at unmanned plane A current time, VBIt is the speed at invasion machine B current time；
Speed Obstacles are denoted asIf it indicates invasion machine B with speed VBIt advances, in the future a certain moment, will cause
The speed V for the unmanned plane A that unmanned plane A and invasion machine B bump againstaSet.
Reciprocal Speed Obstacles method be equivalent to vertex shown in the schematic diagram 5 of conflict Resolution and existOne of place touches
Hit cone.
After the completion of conflict Resolution, the strategy for not restoring Reciprocal course is taken, reason is that restoring Reciprocal course will cause motor-driven time
Number the problem of increasing and increasing path length, but the size of speed when being still conflict Resolution with velocity magnitude, change its side
To, make unmanned plane towards target point fly, as shown in Figure 2.
Further, for unmanned plane, it will usually the historical path that known unmanned plane is passed by, and by real-time
Obstacle sensor can one or several obstacle informations in proper subrange, therefore, what unmanned plane will pass by
One or several path points can obtain in real time, thus by the track of historical track point, current time and subsequent time
Point generates one group of B-spline curves, and the B-spline basic function formula is as follows:
Wherein, n is the number of B-spline, t ∈ [0,1], i=1,2 ..., n；
T ∈ [0,1] indicates that entire path, starting point is 0, and terminating point is 1 as unit 1,It is the row in mathematics
Column combination.
So cubic uniform B-spline basic function can be write as:
B-spline Curve section P0,3(t) are as follows:
Wherein, P0,P1,P2,P3It is B-spline to historical track point, the tracing point of current time and subsequent time is adopted
Sample can find out a series of curve point for meeting cubic B-spline using formula (9).
Technical solution described in the present embodiment calculates the conversion and its size of optimum speed.
Technical solution described in the present embodiment establishes conflict probe model according to the basic principle of Speed Obstacles method, must set out
The condition of raw conflict and Lothrus apterus, if unmanned plane and invasion machine are not being had some in the time and can clashed, by reciprocal speed
Obstruction method is on the problem of unmanned plane reselects speed.
Technical solution described in the present embodiment is after the completion of conflict Resolution, for motor-driven time for shortening path and reducing unmanned plane
Number, takes the strategy for not restoring Reciprocal course, and the size of the speed when size of speed is still conflict Resolution, the i.e. size of speed are protected
Hold it is constant, only need to change its direction, make unmanned plane towards target point fly.
Technical solution described in the present embodiment introduces B-spline curves to generate gentle real-time route.
The term occurred below to the present invention explains:
1, VO Speed Obstacles method Velocity Obstacle, a kind of geometry optimization algorithm, be widely used for carry out unmanned boat or
The Real Time Obstacle Avoiding of robot, this method are advantageous in that intuitive and calculate easy, it is only necessary to construct each Velocity
Two sides of Obstacle, can directly select speed, it is not necessary to calculate distance.
2, the reciprocal Speed Obstacles method Reciprocal Velocity Obstacles of RVO, is by University of
The Gamma of North Carolina at Chapel Hill research group is proposed, since Speed Obstacles method may be implemented in real time
Collision prevention, but the selection of subsequent time speed has randomness, and in order to arrive at the destination as soon as possible, the meeting again of each unmanned plane
Original speed is reselected, so will cause certain shake.In order to eliminate shake, carried out using reciprocal Speed Obstacles method
The conflict probe and conflict Resolution problem of unmanned plane.
3, B-spline curves B-Spline Curve is a class ourve to grow up on the basis of Bezier curve, it gram
Inconvenience brought by Bezier curve entirety controlling has been taken, the most commonly used is secondary and B-spline Curve, has often been used to put down
The global path of sliding unmanned plane, unmanned boat and robot.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of based on the unmanned plane conflict probe and conflict Resolution method that improve Speed Obstacles method, which is characterized in that including such as
Lower step:
Step 1 establishes conflict probe model on the basis of Speed Obstacles method；
Step 2, the condition that the condition and Lothrus apterus that clash are obtained according to conflict probe model；
The position and speed of step 3, unmanned plane perception invasion machine, carries out pre- according to the condition of the condition and Lothrus apterus clashed
It surveys:
When the condition that satisfaction clashes, i.e. prediction then hinders according to reciprocal speed when not having some can clash in the time
Hinder method to reselect the speed of unmanned plane, and enters step 4；
When the condition for meeting Lothrus apterus, i.e. when not having some will not clash in the time, then unmanned plane presses Reciprocal course for prediction
Flight；
After the completion of step 4, conflict Resolution, keeps velocity magnitude when unmanned plane conflict Resolution constant, change its direction, make nobody
Machine flies towards target point.
2. the unmanned plane conflict probe and conflict Resolution method according to claim 1 based on improvement Speed Obstacles method,
It is characterized in that, unmanned plane introduces B-spline curves and generate real-time smooth paths during conflict Resolution.
3. the unmanned plane conflict probe and conflict Resolution method according to claim 1 or 2 based on improvement Speed Obstacles method,
It is characterized in that, the method for establishing conflict probe model on the basis of Speed Obstacles method is as follows in the step 1:
1.1, global coordinate system XOY is established, unmanned plane and invasion machine are respectively with symbol A and B representative, and institute is in place with the unmanned plane center of circle
It is set to origin, establishes local coordinate system XaUaYa, while in point UaSet up the velocity space；
1.2, unmanned plane A and invasion machine B are encountered in moment t, if { Ra,Pa(t),Va(t) } information aggregate for being unmanned plane A,
{RB,PB(t),VB(t) } information aggregate for being invasion machine B, wherein Ra、Pa(t)、Va(t) when respectively indicating radius, the t of unmanned plane A
The position at quarter and the speed of t moment, RB、PB(t)、VB(t) radius of invasion machine B, the position of t moment and t moment are respectively indicated
Speed；If the coordinate of unmanned plane A is (xa,ya), the coordinate of invasion machine B is (xb,yb)；The coordinate of target point is set as (x simultaneouslyg,
yg)；
1.3, invasion machine B is expanded to radius is ROCircle, while unmanned plane A can be reduced to particle, wherein RO=Ra+RB；It penetrates
Line NOWith ray MOBe issued by unmanned plane A by radius be ROCircle two tangent lines；
1.4, related angle between unmanned plane A and invasion machine B is calculated, if the value range of related angle is [0,90 °], related angle
Degree includes angle [alpha], angle beta, angle, θ, angle B；Wherein angle [alpha] is the position line of unmanned plane A and invasion machine B relative to XaAxis
Deflection, angle beta be unmanned plane A and invasion machine B line relative to ray NODeflection, angle, θ is unmanned plane A and mesh
The position line of punctuate is relative to XaThe deflection of axis, angle B are that the speed VB of invasion machine B is equivalent to XaThe deflection of axis；Angle
α, angle beta, the calculation formula of angle, θ size are as follows:
Wherein, d indicates the distance between unmanned plane A and invasion machine B, and calculating formula is as follows:
1.5, modeling terminates.
4. the unmanned plane conflict probe and conflict Resolution method according to claim 3 based on improvement Speed Obstacles method,
It is characterized in that, the condition clashed in the step 2 is alpha-beta≤γ≤alpha+beta；The condition of Lothrus apterus be 0≤γ≤alpha-beta orWherein, angle [alpha] is the position line of unmanned plane A and invasion machine B relative to XaThe deflection of axis；
Angle γ is relative velocity VabRelative to XaThe deflection of axis, VabIt is the speed difference of unmanned plane A and invasion machine B, angle γ
Calculating formula (5) it is as follows:
Wherein, VBxIt is the speed V of invasion machine BBAbscissa component, size calculating formula be VBx=VBcos B；
VByIt is the ordinate component of the speed VB of invasion machine B, size calculating formula is VBy=VBsin B；
VbestxIt is the optimum speed V of unmanned plane AbestAbscissa component, size calculating formula be Vbestx=Vacosθ；
VbestyIt is the optimum speed V of unmanned plane AbestOrdinate component, size calculating formula is
Vbesty=Va sinθ。
5. the unmanned plane conflict probe and conflict Resolution method according to claim 4 based on improvement Speed Obstacles method,
It is characterized in that, in the step 3, when the condition that satisfaction clashes, i.e., when prediction can clash within following a period of time,
The speed of unmanned plane is then reselected according to reciprocal Speed Obstacles method, the new speed of the unmanned plane reselected is based on formula (6)
It calculates:
Wherein, V 'aWhen expression can clash within following a period of time, the new speed of the unmanned plane A reselected；
VaIt is the speed at unmanned plane A current time, VBIt is the speed at invasion machine B current time；
Speed Obstacles are denoted asIf it indicates invasion machine B with speed VBIt advances, in the future a certain moment, will cause nobody
The speed V for the unmanned plane A that machine A and invasion machine B bump againstaSet.
6. the unmanned plane conflict probe and conflict Resolution method according to claim 2 based on improvement Speed Obstacles method,
It is characterized in that, one group of B-spline curves, the B-spline is generated by the tracing point of historical track point, current time and subsequent time
Basic function formula is as follows:
Wherein, n is the number of B-spline, t ∈ [0,1], i=1,2 ..., n.
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| CN117492474A (en) * | 2022-07-22 | 2024-02-02 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle track autonomous navigation acquisition method and unmanned aerial vehicle reconnaissance approaching control method |
| CN115033027A (en) * | 2022-08-15 | 2022-09-09 | 中国民航大学 | Dynamic obstacle avoidance prediction management method for fixed-wing unmanned aerial vehicle |
| CN115588314B (en) * | 2022-10-14 | 2023-08-15 | 东南大学 | Airport road and vehicle collision detection method oriented to intelligent networking environment |
| CN115588314A (en) * | 2022-10-14 | 2023-01-10 | 东南大学 | Airport runway vehicle-machine collision detection method oriented to intelligent networking environment |
| CN116048120A (en) * | 2023-01-10 | 2023-05-02 | 中国建筑一局(集团)有限公司 | Autonomous navigation system and method for small four-rotor unmanned aerial vehicle in unknown dynamic environment |
| CN116048120B (en) * | 2023-01-10 | 2024-04-16 | 中国建筑一局(集团)有限公司 | Autonomous navigation system and method for small four-rotor unmanned aerial vehicle in unknown dynamic environment |
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