面向复杂障碍环境的无人机扰动导航向量场轨迹 规划方法

To address the limitations of traditional guiding vector fields in obstacle avoidance trajectory planning for UAVs，particularly in handling complex obstacles，this paper proposes an improved trajectory planning method based on a disturbed guiding vector field. In static obstacle environments，the influence of the obstacle model on the disturbed guiding vector field is considered，and the disturbance matrix is modified to eliminate tailing effects. In dynamic obstacle environments，the velocity vector is dynamically adjusted based on the motion information of obstacles. By integrating the velocity obstacle method with the disturbed guiding vector field，potential collisions can be proactively avoided. Finally， the trajectory is optimized using differential flatness theory to ensure compliance with the dynamic constraints of fixed-wing UAVs. Simulation results demonstrate that the proposed method exhibits robust obstacle avoidance performance in complex environments，with smooth flight trajectories that adhere to dynamic constraints，thereby offering practical application value.