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无人直升机三维避障方法及仿真

蒙志君 平学寿 陈旭智

蒙志君, 平学寿, 陈旭智等 . 无人直升机三维避障方法及仿真[J]. 北京航空航天大学学报, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499
引用本文: 蒙志君, 平学寿, 陈旭智等 . 无人直升机三维避障方法及仿真[J]. 北京航空航天大学学报, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499
MENG Zhijun, PING Xueshou, CHEN Xuzhiet al. 3D obstacle avoidance method and simulation for unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499(in Chinese)
Citation: MENG Zhijun, PING Xueshou, CHEN Xuzhiet al. 3D obstacle avoidance method and simulation for unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499(in Chinese)

无人直升机三维避障方法及仿真

doi: 10.13700/j.bh.1001-5965.2015.0499
详细信息
    作者简介:

    蒙志君,男,博士,副教授。主要研究方向:飞行器总体设计、无人机及旋翼机总体/建模/控制/仿真技术。Tel.:010-82317557。E-mail:mengzhijun@buaa.edu.cn;平学寿,男,硕士研究生。主要研究方向:无人直升机建模与控制、无人机避障技术;陈旭智,男,博士研究生。主要研究方向:无人直升机自主导航与飞行控制技术。

    通讯作者:

    蒙志君,Tel.:010-82317557,E-mail:mengzhijun@buaa.edu.cn

  • 中图分类号: V212.4

3D obstacle avoidance method and simulation for unmanned helicopter

  • 摘要: 自主避障是无人直升机(UH)在复杂未知环境中执行飞行任务所必须的能力。针对未知环境下UH避障飞行问题,提出了一种新的三维实时避障方法,通过将三维激光雷达探测视野划分成若干不同半径的扇形柱区和等角度分布的直方柱区,结合雷达探测数据判断障碍物分布情况,UH根据避障方法执行相应的规避动作来实现避障飞行。同时提出一种基于CATIA三维建模软件二次开发的三维仿真方法,该方法可以对未知的飞行环境进行三维建模,结合避障方法实现UH在其中的真实避障飞行模拟,并利用该仿真方法验证了三维避障方法的可行性。

     

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出版历程
  • 收稿日期:  2015-07-28
  • 刊出日期:  2016-08-20

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