固定翼无人机转向避障最短轨迹问题研究

Research on the Shortest Trajectory Problem for Fixed-Wing UAV Steering to Avoid Obstacles

摘要: 固定翼无人机飞行过程中，遇到突发障碍威胁不能悬停只能提前转向避障，针对如何获得转向避障最短飞行轨迹的问题，本文根据固定翼无人机的飞行特点，采用Dubins路径方法，设计了满足无人机小转弯半径和飞行方向约束条件的航路。论文给出了无人机与障碍威胁区相交的判断方法，提出了基于Dubins路径的障碍躲避策略，仿真计算得出无人机越早做出规避动作飞行路径越短的结果。本文探讨的解决问题方法具备规划的路径短，算法简便高效等特点，可为固定翼无人机任务规划系统设计提供参考思路。

Abstract: When a fixed-wing UAV is flying, it cannot hover when it encounters a sudden obstacle threat, and the UAV can only turn to avoid obstacles in advance. Aiming at how to obtain the shortest flight trajectory for steering and obstacle avoidance, this paper uses the Dubins path method to design a flight path that satisfies the constraints of the UAV’s small turning radius and flight direction according to the flight characteristics of the fixed-wing UAV. This paper presents a method for judging the intersection of UAV and obstacle threat area, and proposes an obstacle avoidance strategy based on Dubins path. The problem-solving method discussed in this paper has the characteristics of a short planning path, a simple and efficient algorithm, etc., which can provide a reference idea for the design of a fixed-wing UAV mission planning system.