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Volume 42 Issue 8
Aug.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(8): 1619-1626.
MENG Zhijun, PING Xueshou, CHEN Xuzhiet al. 3D obstacle avoidance method and simulation for unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499(in Chinese)
Citation: MENG Zhijun, PING Xueshou, CHEN Xuzhiet al. 3D obstacle avoidance method and simulation for unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1619-1626. doi: 10.13700/j.bh.1001-5965.2015.0499(in Chinese)
shu

3D obstacle avoidance method and simulation for unmanned helicopter

doi: 10.13700/j.bh.1001-5965.2015.0499

  • School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 28 Jul 2015
  • Publish Date: 20 Aug 2016
    Abstract
  • Autonomous obstacle avoidance is an indispensable ability for unmanned helicopter (UH) operating low-altitude flight. A new 3D real-time avoidance method was presented to solve UH obstacle avoidance problem in complicated environment. The vision space of sensor was divided into several unequal radii sector-shaped cylinders and cuboids distributed at the same angle, estimating the obstacle distribution based on sensor data, and UH can execute corresponding maneuver calculated by this method to avoid obstacles successfully. An originally 3D simulation method was also proposed using secondary development technology on CATIA, which can build 3D model for undiscovered environment. Combined with the obstacle avoidance method, real UH obstacle avoidance flight simulation was carried out in it. The feasibility of 3D obstacle avoidance method was validated using the proposed simulation method.

     

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