A Three-dimensional Autonomous Obstacle Avoidance Algorithm for UAV
YANG Xiuxia
ZHOU Weiwei
ZHANG Yi
HUA Wei
MENG Qiyuan
Abstract：In order to improve the security and reliability of UAV's space mission in complex environment,a 3-D UAV auton omous obstacle avoidance algorithm is proposed in the paper.3-D models of collision cone and velocity obstacle are established,the minimum velocity vector deflection angle of spatial autonomous obstacle avoidance is determined for UAV,and the obstacle avoidance point of UAV is solved.At the same time,the UAV's 3-D quintic Pythagorean Hodograph (PH) obstacle avoidance planning path is simulated and verified with the determined obstacle avoidance point and the direction of obstacle avoidance as the initial conditions,the simulation results verify the effectiveness and feasibility of the autonomous obstacle avoidance method.
Keywords：UAVautonomous obstacle avoidancespatial velocity obstaclepath re-planning
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 1309-1312 )