Aiming at the problem of autonomous obstacle avoidance of fixed-wing UAVs, this paper proposes a safe flight corridor construction method based on the motion model of it, and realizes the path planning of fixed-wing UAV based on the safe flight corridor. At present, most of the planning-based obstacle avoidance methods for UAV are oriented to the rotor UAV. Because the motion of the fixed-wing UAV is limited by its minimum turning radius, and can not hover like the rotor, how to solve its optimal obstacle avoidance path is a problem to be solved. Firstly, according to the obstacle avoidance requirements of fixed-wing UAVs, standard path planning methods and flight corridor construction methods are introduced. Secondly, by modelling the fixed-wing UAV, the initialization corridor space required for its actual flight is solved by using the Dubins curve, and the initialization corridor is cut according to the front-end planning data and obstacle information to obtain the flight corridor for the safe flight of the fixed-wing UAV. The flight path of a UAV is optimized by taking flight corridor conditions as constraints. Finally, through simulation experiments, the superiority of this method in autonomous obstacle avoidance of fixed-wing UAV is proved.
Flight Corridor Construction Method for Fixed-Wing UAV Obstacle Avoidance
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Kapitel : 168 ; 1808-1818
10.03.2023
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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