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论文:2020,Vol:38,Issue(2):309-318 |
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引用本文： |
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李樾, 韩维, 陈清阳, 张勇. 基于改进的速度障碍法的有人/无人机协同系统三维实时避障方法[J]. 西北工业大学学报 |
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LI Yue, HAN Wei, CHEN Qingyang, ZHANG Yong. Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method[J]. Northwestern polytechnical university |
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| 基于改进的速度障碍法的有人/无人机协同系统三维实时避障方法 |
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| 李樾1, 韩维1, 陈清阳2, 张勇1 |
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1. 海军航空大学 航空基础学院, 山东 烟台 264001;
2. 国防科技大学 空天科学学院, 湖南 长沙 410073 |
| 摘要: |
| 为适应当前智能体自主化水平，同时发挥多智能体在空战中的优势，有人/无人机协同系统的作战形式逐渐成为研究热点。针对协同系统在三维空间内的实时避障问题，首先，在传统速度障碍法的基础上，建立三维机动障碍的模型；其次通过设定系统遇障时的通行法则，选择飞行模式，进而确定最佳的避障平面及航迹；最后，通过3组仿真分别校验避障平面的差异性、单机躲避机动性障碍的可行性以及协同系统整体避障的有效性。仿真结果表明，该方法能安全快速地实现有人/无人机协同系统对三维机动障碍的躲避。 |
| 关键词:
有人/无人机
速度障碍法
三维空间
避障平面
实时避障
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| Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
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| LI Yue1, HAN Wei1, CHEN Qingyang2, ZHANG Yong1 |
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1. College of Basic Science for Aviation, Naval Aviation University, Yantai 264001, China;
2. College of Aeronautics and Astronautics, National University of Defense Technology, Changsha 410073, China |
| Abstract: |
| To adapt the autonomous level of agents in current, and to perform the advantages of multi-agent in air combat, the form of manned/unmanned aircraft cooperative system has gradually become a hot topic. To solve the issue of three-dimensional (3D) real-time obstacle avoidance, the 3D maneuvering obstacle model is established firstly based on the traditional velocity obstacle method. Then the flight mode is selected and the optimal obstacle avoidance plane is determined by setting the Right-of-way rules when the system encountering obstacles. Finally, the difference of obstacle avoidance plane, the feasibility of avoiding maneuvering obstacle and the effectiveness of obstacle avoidance of cooperative system are verified by several flight simulations. The results show that the proposed method can realize the avoidance of 3D maneuvering obstacle for manned/unmanned aircraft cooperative system safely and efficiently. |
| Key words:
manned/unmanned aircraft
velocity obstacle method
three-dimensional space
obstacle avoidance plane
real-time avoidance
flight simulation
cooperative system
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| 收稿日期: 2019-04-08
修回日期:
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| DOI: 10.1051/jnwpu/20203820309 |
| 基金项目: 国家自然科学基金（61703414）与国防科技基金（3101047）资助 |
| 通讯作者:
Email： |
| 作者简介: 李樾(1991-),海军航空大学博士研究生,主要从事有人/无人机协同编队研究。
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| 作者相关文章 |
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| 李樾 在本刊中的所有文章 |
| 韩维 在本刊中的所有文章 |
| 陈清阳 在本刊中的所有文章 |
| 张勇 在本刊中的所有文章 |
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