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弹箭与制导学报 >

2025 , Vol. 45 >Issue 5: 693 - 706

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.05.013

学术文章

基于改进DWA融合算法的多无人机避障方法

  • 常绪成 , 1 ,
  • 王敬宇 , 2, * ,
  • 李康 2 ,
  • 汤谦 2 ,
  • 张心慧 2
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  • 1 郑州航空工业管理学院自动化学院, 河南 郑州 450046
  • 2 郑州航空工业管理学院航空宇航学院, 河南 郑州 450046
王敬宇(1999—),男,硕士研究生,E-mail:

常绪成(1983—),男,副教授,E-mail:

收稿日期: 2024-11-14

  网络出版日期: 2025-11-28

基金资助

中国高校产学研创新基金(2024ZY019)

河南省科技攻关(252102220056)

河南省科技攻关(252102240106)

郑州航院研究生教育创新计划基金(2025CX141)

郑州航院研究生教育创新计划基金(2024CX70)

郑州航院科研团队(24ZHTD01003)

航空科学基金(20200001055001)

收起

Multi-UAV Obstacle Avoidance Method Based on Improved DWA Fusion Algorithm

  • Chang Xucheng , 1 ,
  • Wang Jingyu , 2, * ,
  • Li Kang 2 ,
  • Tang Qian 2 ,
  • Zhang Xinhui 2
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  • 1 School of Automation, Zhengzhou University of Aeronautics, Zhengzhou 450046, Henan, China
  • 2 School of Aerospace Engineering, Zhengzhou University of Aeronautics, Zhengzhou 450046, Henan, China

Received date: 2024-11-14

  Online published: 2025-11-28

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摘要

针对传统无人机避障算法在未知复杂环境中效能低的问题,提出了一种改进DWA(Dynamic Window Approach,DWA)融合算法。针对DWA算法全局性视角缺失的问题,引入了双向搜索策略以提高规划轨迹的全局价值;针对DWA算法计算速度与精度难以平衡的问题,设计了随环境调整的动态时间步长以权衡计算效率;针对DWA算法环境适应性差的问题,提出了变权重的轨迹评价函数以提高环境适应度;为提高多机协同模式下机间避障的能力,将改进后的DWA算法与最优互惠碰撞避免法(Optimal Reciprocal Collision Avoidance,ORCA)进行了融合。对提出的改进融合算法进行了仿真实验验证,与传统的DWA算法相比,无人机飞行轨迹长度减少了24.62%,任务完成时间缩短了36.11%,迭代次数减少了40.43%,整体性能得到了显著提升,对多无人机自主避障技术的工程应用具有指导意义。

关键词： 多无人机; 未知环境; 改进DWA算法; ORCA算法; 自主避障

本文引用格式

常绪成 , 王敬宇 , 李康 , 汤谦 , 张心慧 . 基于改进DWA融合算法的多无人机避障方法[J]. 弹箭与制导学报, 2025 , 45(5) : 693 -706 . DOI: 10.15892/j.cnki.djzdxb.2025.05.013

Abstract

To address the issue that traditional UAV obstacle-avoidance algorithms have low efficiency in unknown and complex environments,an improved improved Dynamic Window Approach (DWA) fusion algorithm was proposed.Regarding the lack of a global perspective in the DWA algorithm,a bidirectional search strategy was introduced to enhance the global value of the planned trajectory.Confronted with the difficulty of balancing calculation speed and accuracy in the DWA algorithm,a dynamic time step adjusted according to the environment was designed to weigh the computational efficiency.Aiming at the poor environmental adaptability of the DWA algorithm,a trajectory evaluation function with variable weights was put forward to improve environmental fitness.To boost the inter-UAV obstacle-avoidance ability in the multi-UAV collaborative mode,the improved DWA algorithm was integrated with the with the ORCA (Optimal Reciprocal Collision Avoidance) method.Simulation experiments were conducted to verify the proposed improved fusion algorithm.Compared with the traditional DWA algorithm,the UAV flight trajectory has decreased by 33.10%,the mission completion time has been shortened by 31.32%,and the number of iterations has been reduced by 50.05%.The overall performance has been significantly enhanced,which holds guiding significance for the engineering application of multi-UAV autonomous obstacle-avoidance technology.

Key words： Multiple Unmanned Aerial Vehicles (UAVs); Unknown Environment; Improved DWA Algorithm; ORCA Algorithm; Autonomous Obstacle Avoidance

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