In this paper, we propose a hybrid 3D collision avoidance approach based on improved interfered fluid dynamical system (IFDS) and rolling optimization. First, a collision avoidance decision making mechanism based on our previously proposed dynamic collision regions is introduced. Then a path re-planning method based on improved IFDS and rolling optimization is proposed. Rolling optimization is used to optimal the influence coefficients of IFDS with the UAV performance constraint. Finally a UAV three-dimensional re-planning path can be obtained. Simulation results indicate that the proposed method could choose appropriate collision avoidance time and maneuver flight mode, and plans a smooth collision avoidance path in the case of single and multiple intruders.
UAV collision avoidance decision and 3D path re-planning method based on improved interfered fluid dynamical system and rolling optimization
2016-08-01
473882 byte
Conference paper
Electronic Resource
English
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