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对无人机避开障碍物这一热点问题展开了研究。在极坐标系下,基于无人机与障碍物之间的几何关系,建立了无人机与障碍物之间的运动学方程。通过设计滑模变结构有限时间收敛制导律,使连接无人机与避障点的视线角速率快速收敛到零,相对速度方向收敛到期望的避障方向,保证了无人机能够顺利避开运动障碍物。通过有限时间收敛分析,得到了相对速度收敛到期望的避障方向时间与制导律参数的表达式。通过选择合适的参数,可使收敛时间小于到达避障点的时间,保证了避障的完成,也确定了制导律参数的取值范围。最后对设计的避障算法进行了仿真,仿真结果验证了算法的有效性。
UAV to avoid the obstacles of this hot issue has been studied. Under polar coordinate system, based on the geometric relationship between UAV and obstacle, a kinematic equation between UAV and obstacle is established. By designing the sliding-mode variable structure finite-time convergence guidance law, the visual angular velocity of the UAV and the obstacle avoidance point converges rapidly to zero, and the relative velocity direction converges to the desired obstacle avoidance direction to ensure that the UAV can successfully avoid Movement obstacle. Through the finite time convergence analysis, the expression of the relative speed converging to the desired obstacle avoidance direction time and the guidance law parameters is obtained. By choosing the appropriate parameters, the convergence time can be less than the time to reach the obstacle avoidance point to ensure the completion of obstacle avoidance, and the range of the value of the guidance law parameter is also determined. Finally, the design of the obstacle avoidance algorithm is simulated, the simulation results verify the effectiveness of the algorithm.