无人机避障算法综述

Aero Weaponry(2021)

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Abstract
随着低空空域改革的推进,无人机离开隔离空域,进入低空融合空域执行多样化任务已成为发展趋势,而低空动态复杂融合空域给无人机造成严重威胁,避障技术已成为无人机任务决策系统的关键环节,对保障无人机安全运行、提高作业效率起到重要作用.本文首先对无人机避障的相关概念、路径评价指标以及避障关键技术进行阐述,然后对基于优化、势场和机器学习的避障算法进行概念阐述、优缺点比较,最后分析得出了制约无人机避障发展的挑战、研究重点和方向.
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Key words
|uav|obstacle avoidance|optimization|potential field|machine learning|artificial intelligence|autonomous control
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