摘要
Focusingonobstacleavoidanceinthree-dimensionalspaceforunmannedaerialvehicle(UAV),thedirectobstacleavoidancemethodindynamicspacebasedonthree-dimensionalvelocityobstaclesphericalcapisproposed,whichquantifiestheinfluenceofthreateningobstaclesthroughvelocityobstaclesphericalcapparameters.Inaddition,theobstacleavoidanceschemesofanypointonthecriticalcurveduringthemulti-obstaclesavoidancearegiven.Throughprediction,theinsertionpointfortheobstacleavoidancecanbeobtainedandtheflightpathcanbereplanned.TakingthePythagoreanHodograph(PH)curvetrajectoryre-planningasanexample,thethree-dimensionaldirectobstacleavoidancemethodindynamicspaceistested.Simulationresultsshowthattheproposedmethodcanrealizetheonlineobstacleavoidancetrajectoryre-planning,whichincreasestheflexibilityofobstacleavoidancegreatly.
出版日期
2018年05月15日（中国期刊网平台首次上网日期，不代表论文的发表时间）
