This paper proposes an innovative and efficient three-dimensional (3D) autonomous obstacle algorithm for unmanned aerial vehicles (UAVs) which works by generating circular arc trajectories to avoid obstacles. Firstly, information on irregular obstacles is obtained by an onboard detection system; this information is then transformed into standard convex bodies, which are used to generate circular arc avoidance trajectories, and the obstacle avoidance problem is turned into a trajectory tracking strategy. Then, on the basis of the geometric relationship between a UAV and obstacle modeling, the working mechanism of the avoidance algorithm is developed. The rules of obstacle detection, avoidance direction, and the criterion of avoidance success are defined for different obstacle types. Finally, numerical simulations of different obstacle scenarios show that the proposed algorithm can avoid static and dynamic obstacles effectively and can implement obstacle avoidance missions for UAVs well.

中文翻译：

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基于圆弧轨迹的无人机三维自主避障算法

本文提出了一种创新高效的无人飞行器（UAV）三维（3D）自主障碍算法，该算法通过生成圆弧轨迹来避开障碍物。首先，通过车载检测系统获得有关不规则障碍物的信息；然后将这些信息转换为标准凸体，用于生成圆弧回避轨迹，并将避障问题转变为轨迹跟踪策略。然后，根据无人机与障碍物建模之间的几何关系，开发了回避算法的工作机制。针对不同的障碍物类型定义了障碍物检测规则，避障方向和避障成功标准。最后，