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.


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    Title :

    Flight Corridor Construction Method for Fixed-Wing UAV Obstacle Avoidance


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Wang, Zhongming (author) / Zou, Fei (author) / Ma, Zhaowei (author) / Liu, Tianqing (author) / Niu, Yifeng (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Publication date :

    2023-03-10


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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