为了使无人机能够有效地规避突发静态障碍物,提出一种基于EKF-OSA的自主防碰撞控制器设计方法.首先建立无人机与障碍物的相对运动方程,采用扩展卡尔曼滤波算法(EKF)估计障碍物状态,并提出突发静态障碍物碰撞规避规则;然后,设计一种基于提前一步(OSA)优化方法的导引律.仿真结果验证了所提方法的有效性.

In order to make Unmanned Aerial Vehicle (UAV) avoid unexpected static obstacles effec-tively, a method for design a controller of autonomous collision avoidance based on EKF-OSA was proposed. First,the relative motion model between an UAV and the static obstacle was built up.Then,the Extended Kalman Filter (EKF) was applied to estimate the state of the obstacle,and the rule of avoiding collision with unexpected static obstacles was presented.A guidance law based on One-Step-Ahead (OSA) optimization method was designed for collision avoidance.The simulation results veri-fied the effectiveness of the proposed approach.