Optimal Collision Avoidance Strategy for UAVs Against Dynamic Obstacles

Abstract

The ability of autonomous obstacle avoidance in complex dynamic environments has become a key problem to be solved urgently for UAVs. Aiming at the shortcomings of existing obstacle avoidance algorithms that avoid obstacles by adjusting the direction or speed, based on the speed obstacle method, a hybrid obstacle avoidance strategy with simultaneous direction and speed adjustment is proposed. First, according to the principle of the speed obstacle method, it is judged whether there is a flight conflict between the UAV and the dynamic obstacle; then in the scenario of a single dynamic obstacle, the mathematical formula is used to accurately derive the difference between the heading and the speed that the UAV needs to adjust to avoid obstacles. Under the constraints of the objective function, the optimal obstacle avoidance strategy is solved, and then the 3rd B-spline is used to perform the path smoothing operation; the final simulation shows that under the threat of a single dynamic obstacle, the proposed method in this paper The algorithm is effective and efficient.