Collision-inducing method for UAV evasive maneuvers based on receding horizon optimization

Abstract

Aiming at the missile avoidance problem of the unmanned aerial vehicle (UAV) in complex obstacle environments, this work proposes a collision-avoidance method based on receding horizon optimization. The proposed method generated a specific trajectory for the UAV to effectively induce the proportional navigation missile to successfully intercept the obstacle, thereby accomplishing the evasive maneuver. The evasive maneuver was divided into two distinct stages, namely the collision-inducing phase and the fast departure phase. The obstacle potential field-based target selection algorithm was employed to identify the most appropriate target obstacle, while the induced trajectory was determined through a combination of receding horizon optimization and the hp-adaptive pseudo-spectral method. Simulation experiments were carried out under three different types of obstacle environments and one multi-obstacle environment, and the simulation results show that the method proposed in this paper greatly improves the success rate of UAV evasive maneuvers, proving the effectiveness of this method.