Obstacle avoidance method of three-dimensional obstacle spherical cap

doi:10.21629/JSEE.2018.05.16

Journal of Systems Engineering and Electronics ›› 2018, Vol. 29 ›› Issue (5): 1058-1068.doi: 10.21629/JSEE.2018.05.16

• Control Theory and Application • Previous Articles Next Articles

Obstacle avoidance method of three-dimensional obstacle spherical cap

Xiuxia YANG*(), Yi ZHANG(), Weiwei ZHOU()

Naval Aviation University, Yantai 264001, China

Received:2017-05-27 Online:2018-10-26 Published:2018-11-14
Contact: Xiuxia YANG E-mail:yangxiuxia@126.com;changyee@tom.com;zhouweiwei8181@sina.com
About author:YANG Xiuxia was born in 1975. She received her Ph.D. degree in electrical engineering from Naval University of Engineering, Wuhan, China in 2005. Since 2000, she has been with Department of Control Engineering of Naval Aeronautical and Astronautical University, where she is currently a vice professor of Naval Aviation University. Her main research interests include nonlinear control theory with applications to robots, aircraft and other mechanical systems. E-mail: yangxiuxia@126.com|ZHANG Yi was born in 1971. He received his Master degree in control theory and application from Naval Aeronautical and Astronautical University, Yantai, China in 2001. Since 2000, he has been with Department of Control Engineering of Naval Aeronautical and Astronautical University, where he is currently a vice professor of Naval Aviation University. His main research interests include nonlinear control theory with applications to robots, aircraft and other mechanical systems. E-mail: changyee@tom.com|ZHOU Weiwei was born in 1991. He received his Bachelor degree in test and control engineering from Naval Aeronautical and Astronautical University, Yantai, China in 2014. He is currently working toward his Master degree in control theory and application at Naval Aviation University. His main research interests include nonlinear control theory with applications to robots, aircraft and other mechanical systems. E-mail: zhouweiwei8181@sina.com
Supported by:
the Aeronautical Science Foundation of China(20135584010);This work was supported by the Aeronautical Science Foundation of China (20135584010)

Abstract

Abstract:

Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle (UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph (PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.

Key words: three-dimensional direct space obstacle avoidance, velocity obstacle cone, velocity obstacle spherical cap

Xiuxia YANG, Yi ZHANG, Weiwei ZHOU. Obstacle avoidance method of three-dimensional obstacle spherical cap[J]. Journal of Systems Engineering and Electronics, 2018, 29(5): 1058-1068.

Figures/Tables 17

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References 24

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Initial condition	UAV	O
Position coordinate	(162, 101, 64.3)	(254, 63.6, 60.7)
Velocity size	50	40
Velocity direction	(24.7^°, 12.0^°)	(135^°, 12.4^°)
Threat judgment		α < αo
Spherical parameter		G(46.3, 30.2, 3.23, 22.2)

Method	Deflection angle/(^°)	Path length/m	Obstacle avoidance time/s
SCOAM	11.9	575.6	1.75
DROAM/HP	12.8	579.8	1.81
DROAM/VP	20.4	587.1	1.96

Initial condition	O1	O2
Position coordinate	(254, 63.8, 59.8)	(208, 186, 42.5)
Velocity size	35	32
Velocity direction	(106^°, 11.4^°)	(–50.3^°, –15.4^°)
Swelled radius	R₁ = 25	R₂ = 30
Threat judgment	α1 < αo1	α2 < αo2
SC parameter	Go1(38.1, 15.4,	Go2(32.2, 22.8,
SC parameter	3.10, 40.4)	23.5, 49.9)

Method	Deflection angle/(^°)	Path length/m	Obstacle avoidance time/s
SCOAM	13.4	582.4	1.19
DROAM/HP	25.5	595.7	1.45
DROAM/VP	18.4	588.2	1.28

Obstacle avoidance method of three-dimensional obstacle spherical cap

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