A Low-Altitude Obstacle Avoidance Method for UAVs Based on Polyhedral Flight Corridor

Abstract

UAVs flying in complex low-altitude environments often require real-time sensing to avoid environmental obstacles. In previous approaches, UAVs have usually carried out motion planning based on primitive navigation maps such as point clouds and raster maps to achieve autonomous obstacle avoidance. However, due to the huge amount of data in these raw navigation maps and the highly discrete map information, the efficiency of solving the UAV’s real-time trajectory optimization is low, making it difficult to meet the demand for efficient online motion planning. A flight corridor is a series of unobstructed continuous areas and has convex properties. The flight corridor can be used as a simple parametric representation to characterize the safe flight space in the environment, and used as the cost of the collision term in the trajectory back-end optimization for trajectory solving, which can improve the efficiency of real-time trajectory solving and ensure flight safety. Therefore, this paper focuses on the construction of safe flight corridors for UAVs and autonomous obstacle avoidance algorithms for UAVs based on safe flight corridors, based on a rotary-wing UAV platform, and proposes a polyhedral flight corridor construction algorithm and realizes autonomous obstacle avoidance for UAVs based on the constructed flight corridors.