本論文演算法則為利用對飛彈常用的比例導引律定義作改變，讓UAV能在接近障礙物時作出閃避的反應；原理是透過雷達以及紅外線得到的相對距離、接近速度、視線角和視線角變率等資訊，利用這些資料經過卡曼濾波去分析然後估算出UAV與障礙物的相對位置，藉由本論文的演算法則，讓UAV能在與障礙物接近500英呎時，它能自動閃避；而當UAV遠離障礙物500英呎後，再使用歸向導引律，是以目的地的資料，不斷對航程的方向作修正，最後導回正軌。而後在二維平面、三維空間模擬出結果。 We make the change for proportion guiding law definition and use it in our study, make UAV avoidance when meet the closing obstacle, we get the information that include distance、closing velocity、line-of-sight angle、line-of-sight rate form radar and infrared, use Kalman Filter to analyze the data and estimate the relationship between UAV and obstacle, we make it avoidance automatically when the obstacle close 500 foot,after UAV far away obstacle 500 foot, final ,the guiding law will correct the direction, and then arrive the destination.
