Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method

被引：1
|
作者：
Li Y. [1 ]
Han W. [1 ]
Chen Q. [2 ]
Zhang Y. [1 ]
机构：
[1] College of Basic Science for Aviation, Naval Aviation University, Yantai
[2] College of Aeronautics and Astronautics, National University of Defense Technology, Changsha
来源：
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2020年 / 38卷 / 02期
关键词：
Cooperative system; Flight simulation; Manned/unmanned aircraft; Obstacle avoidance plane; Real-time avoidance; Three-dimensional space; Velocity obstacle method;
D O I：
10.1051/jnwpu/20203820309
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
To adapt the autonomous level of agents in current, and to perform the advantages of multi-agent in air combat, the form of manned/unmanned aircraft cooperative system has gradually become a hot topic. To solve the issue of three-dimensional (3D) real-time obstacle avoidance, the 3D maneuvering obstacle model is established firstly based on the traditional velocity obstacle method. Then the flight mode is selected and the optimal obstacle avoidance plane is determined by setting the Right-of-way rules when the system encountering obstacles. Finally, the difference of obstacle avoidance plane, the feasibility of avoiding maneuvering obstacle and the effectiveness of obstacle avoidance of cooperative system are verified by several flight simulations. The results show that the proposed method can realize the avoidance of 3D maneuvering obstacle for manned/unmanned aircraft cooperative system safely and efficiently. © 2020 Journal of Northwestern Polytechnical University.
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页码：309 / 318
页数：9
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