Extended dynamic system modulation for real-time obstacle avoidance

作     者：Zhide ZHANG Zhengjie WANG Jin YU Zhide ZHANG;Zhengjie WANG;Jin YU

作者机构：School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2022年第35卷第12期

页      面：212-225页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by the National Key R&D Program of China(No.2018YFF01013403) 

主　　题：Collision avoidance Dynamic system Guidance Modulation Unmanned Aerial Vehicles(UAVs) 

摘      要：In this paper,a novel real-time obstacle avoidance method based on Dynamic System(DS),is *** proposed method ensures the impenetrability of multiple convex obstacles by online modulating the original velocity field of the *** can be applied to perform obstacle avoidance in the state space of the DS with both autonomous and non-autonomous DS-based *** realizing the obstacle avoidance,the equilibrium points of the original DS can be *** modulation matrix form is extended based on the earlier dynamic system modulation methods of the *** asymmetric modulation provided by this method allows the modulated DS to satisfy the dynamic constraints of a class of *** addition,the proposed method has the inherent ability of multiple-obstacle avoidance and the direction selectivity of avoidance ***,to solve the simultaneous guidance and obstacle avoidance problem,a guidance law for Unmanned Aerial Vehicles(UAVs)based on the proposed method,is ***,a numerical simulation is performed to analyze the performance of the proposed method and the obstacle avoidance guidance law.