Research On The Method Of UAV Avoidance Based On Particle Swarm Optimization And Velocity Obstacle

In recent years,unmanned aerial vehicle is in a period of rapid development,which has a wide range of application prospects in military and civil fields.However,the rapid development of UAV has brought great challenges to the pattern of low altitude airspace.Low altitude airspace has become more crowded,and the probability of UAV accidents has become higher and higher.The safety of UAV in the process of mission execution has aroused widespread concern.Whether UAV can avoid risks independently is an important guarantee for their flight safety,and it also affects the development of UAV.The core of the UAV avoiding problem is the avoiding algorithm.Based on the autonomous avoiding algorithm,the avoidance problem of UAV is studied.Firstly,the problems of UAV avoidance are summarized.According to the different types of obstacles,the problem of UAV avoidance is divided into two different levels.Not only the constraints of UAV in flight process are summarized,but also the advantages and disadvantages of the current mainstream algorithms are summarized and compared.In order to realize the autonomous flight avoidance of UAV,a double-layer algorithm is proposed.Secondly,research on the problem of UAV avoidance about static obstacles,a static environment model is established based on threat constraints,and an improved particle swarm optimization algorithm is proposed.The inertia weight is adaptively changed,and the learning factor is asymmetric and arcsine dynamically adjusted.Chaos theory is applied to the stagnant particles to expand the search range.The simulation results show that the improved algorithm has a faster convergence speed and successfully solves the problem of UAV avoidance in the static environment.Then,research on the problem of UAV avoidance about dynamic obstacles,the improved particle swarm optimization algorithm of the first level algorithm can’t meet the requirements of avoidance,and will immediately call the second level algorithm velocity obstacle to complete the autonomous avoidance.The dynamic environment model is established,and the velocity obstacle model is optimized by introducing the safe distance and treat distance.The strategy of changing the direction angle is used to avoid the intruder.In order to reduce the number of maneuvers,the original track will not be recovered directly,but it will be recovered gradually by flying towards the target point ofthe threatening flight path.The validity and practicability of the algorithm is verified by MATLAB simulation experiment.Finally,the UAV avoidance simulation system is designed,which can realize the functions of registration,login,password modification,user management and planning mode selection.The simulation program and simulation results of UAV avoiding static and dynamic obstacles are presented in the form of operation interface,which is easy to use and operate.