Study For Autonomous Obstacle-avoiding Algorithm Of Civilian UAVs

The civilian UAVs market is quite lively in recent years.Civilian drones bring new vigor and vitality to the traditional mode of operation.It also offers a better entertainment experience.At the same time,the research on UAVs especially about SAA is increasing rapidly,since it is an important guarantee for safety flight,and the premise for integrating into the national airspace system.The obstacle or collision avoidance algorithm make it possible to flight safety without human direct participation.However,the most existing research are focus on a particular theoretical question without taking the task modes into full account.And less study is done on the architecture of SAA algorithm.Based on deep research and analysis of detailed situation,application scenarios of civilian UAVs were fully considered in this thesis.At the macro level,the knowledge system of SAA algorithm was analyzed.At a strategic level,the classical obstacle or collision avoidance algorithm was discussed.The intelligent algorithm was designed also studied.Firstly,the obstacles avoiding ability of the existing drones was analyzed.Then the UAS was described in more detail.Next,flight constrains and air traffic rules were proposed based on the advanced concept from civil aviation.The architecture of SAA algorithm was introduced in detail.Inspired by the form of water flows,a SAA algorithm atlas was designed and drawn preliminary.According to the type of obstacles,some classical obstacle avoidance method was introduced and modified.Then,a brief introduction about intelligent methods was made.Next,an intelligent algorithm based on AI was designed.The controversial of AI used in UAS was discussed in the last part.