CN112180954B - 一种基于人工势场的无人机避障方法 - Google Patents
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- CN112180954B CN112180954B CN202010739041.8A CN202010739041A CN112180954B CN 112180954 B CN112180954 B CN 112180954B CN 202010739041 A CN202010739041 A CN 202010739041A CN 112180954 B CN112180954 B CN 112180954B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112947417A (zh) * | 2021-01-27 | 2021-06-11 | 厦门大学 | 一种用于智能运动体避障的控制方法 |
CN113534838A (zh) * | 2021-07-15 | 2021-10-22 | 西北工业大学 | 一种基于人工势场法的改进无人机航迹规划方法 |
CN113534841A (zh) * | 2021-07-29 | 2021-10-22 | 北京航空航天大学 | 一种无人飞行器避障路径规划算法、路径规划算法 |
CN114518770B (zh) * | 2022-03-01 | 2024-05-31 | 西安交通大学 | 一种电势场和深度强化学习融合的无人机路径规划方法 |
CN114879719A (zh) * | 2022-04-12 | 2022-08-09 | 江苏中科智能科学技术应用研究院 | 一种适用于油电混动无人机的智能避障方法 |
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CN103365299A (zh) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | 一种无人机的避障方法及其装置 |
CN106843235A (zh) * | 2017-03-31 | 2017-06-13 | 深圳市靖洲科技有限公司 | 一种面向无人自行车的人工势场路径规划法 |
CN107219857A (zh) * | 2017-03-23 | 2017-09-29 | 南京航空航天大学 | 一种基于三维全局人工势函数的无人机编队路径规划算法 |
CN108459612A (zh) * | 2017-02-21 | 2018-08-28 | 北京航空航天大学 | 基于人工势场法的无人机编队控制方法及装置 |
CN109358637A (zh) * | 2018-05-25 | 2019-02-19 | 武汉科技大学 | 一种基于预设航线的地表近距离自主探查无人机的三维避障方法 |
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CN101408772B (zh) * | 2008-11-21 | 2010-09-08 | 哈尔滨工程大学 | Auv智能避碰方法 |
CN102591332B (zh) * | 2011-01-13 | 2014-08-13 | 同济大学 | 用于无人驾驶汽车局部路径规划的装置及方法 |
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WO2016065055A1 (en) * | 2014-10-21 | 2016-04-28 | Ask Y, Llc | Platooning control via accurate synchronization |
CN108398960B (zh) * | 2018-03-02 | 2021-01-26 | 南京航空航天大学 | 一种改进APF与分段Bezier相结合的多无人机协同目标追踪方法 |
CN109318890A (zh) * | 2018-06-29 | 2019-02-12 | 北京理工大学 | 一种基于动态窗口及障碍物势能场的无人车动态避障方法 |
CN109696917A (zh) * | 2019-01-28 | 2019-04-30 | 中国人民解放军军事科学院国防科技创新研究院 | 一种航天器自动交会避障方法及*** |
CN110989656A (zh) * | 2019-11-13 | 2020-04-10 | 中国电子科技集团公司第二十研究所 | 一种基于改进人工势场法的冲突解脱方法 |
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CN103365299A (zh) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | 一种无人机的避障方法及其装置 |
CN108459612A (zh) * | 2017-02-21 | 2018-08-28 | 北京航空航天大学 | 基于人工势场法的无人机编队控制方法及装置 |
CN107219857A (zh) * | 2017-03-23 | 2017-09-29 | 南京航空航天大学 | 一种基于三维全局人工势函数的无人机编队路径规划算法 |
CN106843235A (zh) * | 2017-03-31 | 2017-06-13 | 深圳市靖洲科技有限公司 | 一种面向无人自行车的人工势场路径规划法 |
CN109358637A (zh) * | 2018-05-25 | 2019-02-19 | 武汉科技大学 | 一种基于预设航线的地表近距离自主探查无人机的三维避障方法 |
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