Volume 38, Number 2, April 2020
|Page(s)||309 - 318|
|Published online||17 July 2020|
Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method
College of Basic Science for Aviation, Naval Aviation University, Yantai 264001, China
2 College of Aeronautics and Astronautics, National University of Defense Technology, Changsha 410073, China
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.
Key words: manned/unmanned aircraft / velocity obstacle method / three-dimensional space / obstacle avoidance plane / real-time avoidance / flight simulation / cooperative system
关键字 : 有人/无人机 / 速度障碍法 / 三维空间 / 避障平面 / 实时避障
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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