电光与控制
電光與控製
전광여공제
ELECTRONICS OPTICS & CONTROL
2015年
4期
13-18,22
,共7页
无人机%防碰撞%扩展卡尔曼滤波%提前一步
無人機%防踫撞%擴展卡爾曼濾波%提前一步
무인궤%방팽당%확전잡이만려파%제전일보
UAV%collision avoidance%extended Kalman filter%one-step-ahead
为了使无人机能够有效地规避突发静态障碍物，提出一种基于EKF-OSA的自主防碰撞控制器设计方法。首先建立无人机与障碍物的相对运动方程，采用扩展卡尔曼滤波算法（EKF）估计障碍物状态，并提出突发静态障碍物碰撞规避规则；然后，设计一种基于提前一步（ OSA）优化方法的导引律。仿真结果验证了所提方法的有效性。
為瞭使無人機能夠有效地規避突髮靜態障礙物，提齣一種基于EKF-OSA的自主防踫撞控製器設計方法。首先建立無人機與障礙物的相對運動方程，採用擴展卡爾曼濾波算法（EKF）估計障礙物狀態，併提齣突髮靜態障礙物踫撞規避規則；然後，設計一種基于提前一步（ OSA）優化方法的導引律。倣真結果驗證瞭所提方法的有效性。
위료사무인궤능구유효지규피돌발정태장애물，제출일충기우EKF-OSA적자주방팽당공제기설계방법。수선건립무인궤여장애물적상대운동방정，채용확전잡이만려파산법（EKF）고계장애물상태，병제출돌발정태장애물팽당규피규칙；연후，설계일충기우제전일보（ OSA）우화방법적도인률。방진결과험증료소제방법적유효성。
In order to make Unmanned Aerial Vehicle ( UAV) avoid unexpected static obstacles effec-tively,a method for design a controller of autonomous collision avoidance based on EKF-OSA was proposed . First,the relative motion model between an UAV and the static obstacle was built up .Then,the Extended Kalman Filter ( EKF) was applied to estimate the state of the obstacle,and the rule of avoiding collision with unexpected static obstacles was presented .A guidance law based on One-Step-Ahead ( OSA) optimization method was designed for collision avoidance .The simulation results veri-fied the effectiveness of the proposed approach.
