Study on collision avoidance for UAV based on the time constraint
Yang Xiu-xi · Flight Dynamics · 2015
This paper studies the hot issue of the UAV to avoid obstacles. Based on the geometric relationship between the UAV and the obstacle,we obtain the kinematics equations between the UAV and the obstacle in the polar coordinate. Under the sliding-mode variable structure finite-time convergence guidance law,the angular rate of the sight line that connects the UAV with the collision avoidance point converge to zero,meanwhile the angle of the relative velocity converges to the required angle of the collision avoidance vector,so the UAV can avoid the obstacles successfully. By analyzing the convergence time,we get the equation of the convergence time with the guidance law parameters. So we can chose the appropriate parameters to make the convergence time be shorter than the time that the UAV reaches the obstacle,and also obtain the range of the parameters. Finally,we make the simulation of the algorithm,and the results show the effectiveness of the algorithm.