【摘要】 针对复杂动态环境下，无人机自主规避动态障碍物的问题，提出了一种改进的速度障碍法，以提高无人机在复杂环境中自主避障的能力。首先，根据速度障碍法原理，构建数学模型，判断无人机与动态障碍物是否存在冲突；然后，加入了自适应安全距离的同时用卡尔曼滤波对动态障碍物的下一时刻的位置进行预测，重构一个速度障碍区；最后，通过改进动态窗口法对可行避障区域进行最优避障策略的求解。通过不同场景和多障碍物连续避障的仿真实验，验证了所提算法的可行性和有效性。更多还原

【Abstract】 Aiming at the problem of autonomous obstacle avoidance of UAV(unmanned aerial vehicle) in complex dynamic environment, an improved speed obstacle method was proposed to improve the autonomous obstacle avoidance ability of UAV in complex environment. Firstly, according to the principle of velocity obstacle method, a mathematical model was constructed to determine whether there was conflict between UAV and dynamic obstacle. Then, the adaptive safety distance was added and the Kalman filter was used to predict the position of the dynamic obstacle at the next moment, and a velocity obstacle area was reconstructed. Finally, an improved dynamic window method was used to solve the optimal obstacle avoidance strategy for the feasible obstacle avoidance region. The feasibility and effectiveness of the proposed algorithm were verified by the simulation experiments of different scenes and multiple obstacles.更多还原