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Journal of Projectiles, Rockets, Missiles and Guidance >

2022 , Vol. 42 >Issue 6: 13 - 19

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2022.06.003

Study on Path Planning of UAV Anti-reconnaissance Based on Improved Velocity Obstacle Algorithm

  • MAO Yan ,
  • YANG Jiading ,
  • XU Xiaoqiang
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  • School of Automation, Wuhan University of Technology, Wuhan 430070, China

Received date: 2022-09-29

  Online published: 2025-02-25

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Abstract

Aiming at the problem of the avoidance of UAV to dynamic obstacles and static obstacles, fully considering the factors such as the safe boundary between obstacles and UAV, and combining with the anti-reconnaissance scene of radar in actual cruise, the velocity obstacle method and the improved artificial potential field method are used in the two-dimensional plane to adjust the yaw angle of UAV, which solves the path planning problem of boundary separation and the intersection of UAV under the influence of dynamic obstacles and static obstacles. Three kinds of dynamic and static obstacle mathematical simulation models are designed based on the parameters of land-based radar and airborne radar. In the simulation results, the UAV can autonomously choose the yaw direction to avoid obstacles, which has good real-time and accuracy.

Key words： velocity obstacle; UAV; improved artificial potential field; path planning; radar

Cite this article

MAO Yan , YANG Jiading , XU Xiaoqiang . Study on Path Planning of UAV Anti-reconnaissance Based on Improved Velocity Obstacle Algorithm[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2022 , 42(6) : 13 -19 . DOI: 10.15892/j.cnki.djzdxb.2022.06.003

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