Collision Avoidance for Cooperative UAVs With Optimized Artificial Potential Field Algorithm
Collision Avoidance for Cooperative UAVs With Optimized Artificial Potential Field Algorithm
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DOI：
10.1109/access.2017.2746752
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发表时间：
2017-01-01
期刊：
影响因子：
3.9
通讯作者：
Lao, Songyang
中科院分区：
文献类型：
--
作者：
Sun, Jiayi;Tang, Jun;Lao, Songyang
无人机系统是发展最快、水平最高、实用性最强的无人机系统之一。碰撞避免和轨迹规划是任何无人机系统的核心领域。然而，存在与现有方法相关联的理论和实践问题。为了解决这些问题，本文提出了一种优化的人工势场（APF）算法的多无人机操作在3-D动态空间。经典的APF算法局限于单架无人机的航迹规划，且不能保证避免碰撞。为了克服这一挑战，提出了一种具有距离因子和跳跃策略的方法，以解决常见的问题，例如无法到达的目标，并确保无人机不会与任何障碍物碰撞。该方法将无人机同伴视为动态障碍物，实现无人机协同航迹规划。此外，抖动的问题，解决了使用动态步长调整方法。说明了几种解决方案。该方法已在定量测试模拟模型中得到验证，并在模拟城市环境中获得了令人满意的结果。
Unmanned aerial vehicle (UAV) systems are one of the most rapidly developing, highest level and most practical applied unmanned aerial systems. Collision avoidance and trajectory planning are the core areas of any UAV system. However, there are theoretical and practical problems associated with the existing methods. To manage these problems, this paper presents an optimized artificial potential field (APF) algorithm for multi-UAV operation in 3-D dynamic space. The classic APF algorithm is restricted to single UAV trajectory planning and usually fails to guarantee the avoidance of collisions. To overcome this challenge, a method is proposed with a distance factor and jump strategy to solve common problems, such as unreachable targets, and ensure that the UAV will not collide with any obstacles. The method considers the UAV companions as dynamic obstacles to realize collaborative trajectory planning. Furthermore, the jitter problem is solved using the dynamic step adjustment method. Several resolution scenarios are illustrated. The method has been validated in quantitative test simulation models and satisfactory results were obtained in a simulated urban environment.