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UAV dynamic obstacle avoidance based on improved reciprocal velocity obstacle

This paper aims to solve the problem that when the UAV flies from the starting point to the target point in the velocity space, the obstacle avoidance speed provided by the mutual velocity obstacle method will appear too large turning angle in order to avoid dynamic obstacles. In order to better meet the flight performance of UAV, an improved mutual velocity obstacle method is proposed in this paper. This method can not only solve the problem of path jitter caused by the speed obstacle method, but also solve the problem of excessive turning angle when the velocity direction selected by the mutual velocity obstacle method is flying towards the target point. In addition, the UAV will not return to the original path after the obstacle avoidance, but fly along the target point according to the updated best speed direction, so as to reduce the number of turns. The simulation results show that the improved mutual velocity obstacle method can effectively reduce the turning angle of UAV in dynamic environment and meet the flight performance of UAV.