Abstract:

In dynamic uncertain environments, considering the mobility of threatening obstacles and the detection error of sensors that unmanned aerial vehicle (UAV) carries, the security and reliability of executing missions for UAV can be improved effectively. On the basis of the velocity obstacle method, dynamic uncertainties can be expressed by the orientation error of threatening obstacle’s velocity, and the dynamic velocity obstacle model (DVOM) also can be established. For quantifying the influence of threatening obstacles in dynamic uncertain environments, based on the velocity obstacle arc method, the DVOM velocity obstacle arc method is given. Based on this, an autonomous obstacle avoidance algorithm in dynamic uncertain environment is presented. Finally, the path planning of Pythagorean Hodograph (PH) is taken as an example to conduct simulation for UAV’s autonomous collision avoidance algorithm in dynamic uncertain environments, and simulation results demonstrate the practicality and efficiency of the algorithm.