Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method
To adapt the autonomous level of agents in current, and to perform the advantages of multi-agent in air combat, the form of manned/unmanned aircraft cooperative system has gradually become a hot topic. To solve the issue of three-dimensional (3D) real-time obstacle avoidance, the 3D maneuvering obst...
| Format: | Article |
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| Language: | zho |
| Published: |
EDP Sciences
2020-04-01
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| Series: | Xibei Gongye Daxue Xuebao |
| Subjects: | |
| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2020/02/jnwpu2020382p309/jnwpu2020382p309.html |
| _version_ | 1827801727972147200 |
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| collection | DOAJ |
| description | To adapt the autonomous level of agents in current, and to perform the advantages of multi-agent in air combat, the form of manned/unmanned aircraft cooperative system has gradually become a hot topic. To solve the issue of three-dimensional (3D) real-time obstacle avoidance, the 3D maneuvering obstacle model is established firstly based on the traditional velocity obstacle method. Then the flight mode is selected and the optimal obstacle avoidance plane is determined by setting the Right-of-way rules when the system encountering obstacles. Finally, the difference of obstacle avoidance plane, the feasibility of avoiding maneuvering obstacle and the effectiveness of obstacle avoidance of cooperative system are verified by several flight simulations. The results show that the proposed method can realize the avoidance of 3D maneuvering obstacle for manned/unmanned aircraft cooperative system safely and efficiently. |
| first_indexed | 2024-03-11T20:28:34Z |
| format | Article |
| id | doaj.art-b6f550345a6541d8aa7c89c0d79708cd |
| institution | Directory Open Access Journal |
| issn | 1000-2758 2609-7125 |
| language | zho |
| last_indexed | 2024-03-11T20:28:34Z |
| publishDate | 2020-04-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Xibei Gongye Daxue Xuebao |
| spelling | doaj.art-b6f550345a6541d8aa7c89c0d79708cd2023-10-02T10:49:24ZzhoEDP SciencesXibei Gongye Daxue Xuebao1000-27582609-71252020-04-0138230931810.1051/jnwpu/20203820309jnwpu2020382p309Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle MethodTo adapt the autonomous level of agents in current, and to perform the advantages of multi-agent in air combat, the form of manned/unmanned aircraft cooperative system has gradually become a hot topic. To solve the issue of three-dimensional (3D) real-time obstacle avoidance, the 3D maneuvering obstacle model is established firstly based on the traditional velocity obstacle method. Then the flight mode is selected and the optimal obstacle avoidance plane is determined by setting the Right-of-way rules when the system encountering obstacles. Finally, the difference of obstacle avoidance plane, the feasibility of avoiding maneuvering obstacle and the effectiveness of obstacle avoidance of cooperative system are verified by several flight simulations. The results show that the proposed method can realize the avoidance of 3D maneuvering obstacle for manned/unmanned aircraft cooperative system safely and efficiently.https://www.jnwpu.org/articles/jnwpu/full_html/2020/02/jnwpu2020382p309/jnwpu2020382p309.htmlmanned/unmanned aircraftvelocity obstacle methodthree-dimensional spaceobstacle avoidance planereal-time avoidanceflight simulationcooperative system |
| spellingShingle | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method Xibei Gongye Daxue Xuebao manned/unmanned aircraft velocity obstacle method three-dimensional space obstacle avoidance plane real-time avoidance flight simulation cooperative system |
| title | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
| title_full | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
| title_fullStr | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
| title_full_unstemmed | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
| title_short | Real-Time Obstacle Avoidance for Manned/Unmanned Aircraft Cooperative System Based on Improved Velocity Obstacle Method |
| title_sort | real time obstacle avoidance for manned unmanned aircraft cooperative system based on improved velocity obstacle method |
| topic | manned/unmanned aircraft velocity obstacle method three-dimensional space obstacle avoidance plane real-time avoidance flight simulation cooperative system |
| url | https://www.jnwpu.org/articles/jnwpu/full_html/2020/02/jnwpu2020382p309/jnwpu2020382p309.html |