运用速度障碍法进行避障时,UAV的可选避障速度区间过小,需要进行不必要的机动。针对这一问题,文中在速度障碍法的基础上提出了有限时间速度障碍法,在进行避障的过程中,同时考虑碰撞发生时间和UAV的过载约束,并设计相关指标函数,在无碰速度区域中选择最优避障速度矢量,并将UAV速度偏转至最优避障速度方向上完成避障。该方法计算量少,实时性好,能够满足UAV在线避障的要求。仿真结果验证了方法的可行性和有效性。

When using the velocity obstacle method to avoid obstacle, the optional obstacle avoidance speed interval of UAV is too small, which need unnecessary maneuver. In order to solve this problem, a finite time velocity obstruction method was proposed based on the velocity obstruction method. In the process of obstacle avoidance, we considered both the time of collision and the overload constraints of UAV, and designed relevant index function to select the optimal obstacle avoidance velocity vector in collision-free speed area, and the UAV speed was deflected to the direction of optimal obstacle avoidance speed to complete the obstacle avoidance. This method has little computation and good real-time performance, and can meet the requirements of UAV online obstacle avoidance. The simulation results verify the feasibility and effectiveness of the proposed method.