Study of the obstacle avoidance plan of UAV based on IRIS algorithm

Although unmanned aerial vehicle (UAV) shows great advantages and some new potential applications in recent years as an effective tool for investigation, fighting and defense, yet, how to give full play to its role still remains the focus of attention. To improve the fighting efficiency of UAV and expand the range of its applications, the obstacle avoidance problem of UAV during autonomous cruise should be solved at first. This paper mainly studies the obstacle avoidance algorithm for UAV, and proposes an obstacle avoidance plan based on IRIS (Iterative Regional Inflation by Semidefinite) and APF (Artifical Potential Field), i.e. IRIS-APF obstacle avoidance plan. According to the requirements and constraints on UAV autonomous cruise, the IRIS and APF are optimized and combined effectively, to realize the IRIS algorithm in 2d and 3d environments, control the UAV avoidance of static obstacles in 2d environment, and ensure the general heading direction of UAV towards the target. Through simulation verification, the IRIS-APF obstacle avoidance plan proposed herein not only achieves the goal of obstacle avoidance, but also realizes high algorithm speed and accuracy under the high real-time request during UAV advancement process.