Study on Proportional Navigation-Based Collision Avoidance for UAV
Liu Xiao-we · Jisuanji fangzhen · 2015
With the increasing complexity of combat environment which UAVs operate on,the research on the UAV to avoid dynamic obstacles has become a hot issue. With the help of the idea of proportional navigation law,we guide the direction of the relative speed of the UAV to the dynamic obstacle to the direction of collision avoidance vector to complete collision avoidance. In order to meet the completion time and the constrains of maneuver performance of UAV,this paper gives the formulations of the estimated time of collision avoidance and the normal acceleration.Then we get the range of the proportional navigation coefficient by solving the formulations. After the UAV reaching the collision avoidance point,we make path planning at the point by using the proportional navigation law and the UAV reach the target at last. Simulation results show the effectiveness of the algorithm.