Dynamic obstacle avoidance strategy for flapping⁃wing micro air vehicles

被引：0
|
作者：
Zheng H. [1 ]
Yu L.-J. [1 ]
Zhi P.-P. [1 ,2 ]
Wang Z.-L. [1 ,2 ]
机构：
[1] School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu
[2] Yangtze Delta Region Institute（Huzhou）, University of Electronic Science and Technology of China, Huzhou
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 09期
关键词：
cost model; dynamic path planning; flapping-wing micro air vehicle; obstacle avoidance strategy;
D O I：
10.13229/j.cnki.jdxbgxb.20211187
中图分类号：
学科分类号：
摘要：
Aiming at the dynamic obstacle avoidance problem during the flying process of the Flapping-wing Micro Air Vehicle（FWMAV），a novel obstacle avoidance scheduling strategy integrating the global path planning and the locally dynamic path planning is proposed in this paper. The static comprehensive cost model is first built by considering both the performance constraints of the FWMAV and its threat constraints during the flight environment. Based on the static cost model， a time-varying collision constraint between the FWMAV and dynamic obstacles is defined and then the dynamic comprehensive cost model for the local obstacle avoidance is established. The improved ant colony algorithm is proposed for the obstacle avoidance scheduling strategy optimization. The results show that the proposed method can effectively handle the dynamic obstacle avoidance scheduling problem of the FWMAV under the known map and improve the dynamic obstacle avoidance scheduling strategy under the dynamic obstacles；meanwhile the improved ant colony algorithm can promote the efficiency of the dynamic path optimization to ensure the real-time requirement of the obstacle avoidance control of the FWMAV. © 2023 Editorial Board of Jilin University. All rights reserved.
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页码：2732 / 2740
页数：8
相关论文
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