Research on UAVs Collision Avoidance with Multiple Dynamic Obstacles
Wenjian Ouyang, Xunsheng Gan, Liang Tong · 2022 IEEE International Conference on Advances in Electrical Engineering and Computer Applications (AEECA) · 2022
In a complex dynamic environment, the method for UAV to avoid multiple dynamic obstacles one by one is not efficient. This paper adjusts the existing single obstacle collision avoidance method, and based on the velocity obstacle method, proposes a collision avoidance algorithm that adjusts the direction and speed of multiple dynamic obstacles at the same time. First, within the range of UAV identification, analyze the direction, speed, and position information of all dynamic obstacles, and determine whether there is a flight conflict between UAV and dynamic obstacles according to the principle of speed obstacle method; The set relationship between the parameters between the UAV and the obstacle is used to derive a conflict resolution strategy that meets the requirements of collision avoidance, and the optimal solution is obtained through the cost function; Finally, use Cubic B-splines for path smoothing operation. In the dynamic obstacle scene, the algorithm proposed in this paper is more flexible and efficient.