| 引用本文: | 魏瑞轩,张启瑞,许卓凡,周凯,赵晓琳.类脑发育无人机防碰撞控制[J].控制理论与应用,2019,36(2):175~182.[点击复制] |
| WEI Rui-xuan,ZHANG Qi-rui,XU Zhuo-fan,ZHOU Kai,ZHAO Xiao-lin.A brain mechanism for collision avoidance based on developmental UAVs[J].Control Theory and Technology,2019,36(2):175~182.[点击复制] |
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| 类脑发育无人机防碰撞控制 |
| A brain mechanism for collision avoidance based on developmental UAVs |
| 摘要点击 2416 全文点击 1264 投稿时间：2017-11-04 修订日期：2018-03-18 |
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| DOI编号 10.7641/CTA.2018.70803 |
| 2019,36(2):175-182 |
| 中文关键词 无人机；防碰撞；自主心智发育 威胁-规避映射 |
| 英文关键词 unmanned aerial vehicle collision avoidance autonomous mental development threat-avoidance mapping |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 城市无人机的大量普及，对无人机在密集动态环境中的防碰撞问题提出了严峻挑战。论文针对密集动态环境中碰撞威胁模式复杂多变的特点，设计了无人机的自主心智发育型防碰撞控制架构，建立了可自主发育的威胁-规避映射关系，构建了威胁模式知识库和规避策略知识库，进而提出了基于自主心智发育的无人机防碰撞控制方法。通过将有效可信的知识不断导入发育器进行发育，可以持续提高无人机应对密集动态障碍的防碰撞能力。仿真对比实验表明，本文方法不仅能快速构建安全避障航路，而且算法效率随知识库的扩充而提高，能够极大提高无人机在密集动态障碍环境中飞行安全性。 |
| 英文摘要 |
| With the popularization and development of unmanned aerial vehicles (UAVs), small UAVs have made life more active. But there are crowded with hundreds of UAVs which, as dense dynamic obstacles, produce serious challenges for UAVs’ safety. To avoid the flight-risk in this complex and changeful environment, we first design a mechanism for autonomous mental development UAVs, then developmental threat-avoid mapping, threat pattern base and avoid strategy base are constructed. So a control strategy on the basis of autonomous mental development is proposed. And UAVs’ ability of avoiding collision in dense and dynamic environment is improved through continuous importing reliable knowledge to developmental unit. Through comparing simulation results of experiments, we find that the proposed method can not only react fast to dense obstacles and design a safe path with avoidance quickly, but also improve the efficiency of algorithm with accumulating of knowledge base, thus improving the safety of UAVs flying in dense dynamic obstacles. |
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