Multi-resolution path planning method for micro unmanned aerial vehicle under influence of wind field

Abstract

The invention discloses a multi-resolution path planning method for a micro unmanned aerial vehicle under the influence of a wind field. The multi-resolution path planning method includes six steps as follows: firstly, obtaining an environmental zone for the path planning of the aerial vehicle; secondly, selecting a basic function for wavelet transformation; thirdly, creating a flying environment cost function under the influence of the wind field; fourthly, reconstructing a multi-resolution flying environment cost function by using a Haar wavelet grid decomposition method; fifthly, generating an environmental weighted graph by using a multi-resolution environment cost function value; and sixthly, looking for the optimal path. According to the multi-resolution path planning method, the factors such as the computing power of an airborne computer, the detection range of a sensor, the distribution of an obstacle, the distribution and intensity of the wind field and the like are considered in the process of determining different resolution levels in the environmental zone, so that the path planning efficiency is improved. Moreover, the multi-resolution path planning method is simple, reliable and practical, and is suitable for the online path planning of the low-altitude micro unmanned aerial vehicle under the influence of the wind field.

Description

technical field [0001] The invention belongs to the technical field of aviation optimization, in particular to the technical field of micro-unmanned aerial vehicle path planning, in particular to a multi-resolution path planning method for a micro-unmanned aerial vehicle under the influence of a wind field. Background technique [0002] As a relatively low-cost special tool, micro-unmanned aerial vehicle has been paid more and more attention in the civilian and military fields. In some dangerous areas or areas that are difficult for humans to set foot in, micro unmanned aerial vehicles have great advantages and can be used to detect important military facilities, monitor real-time disasters and traffic conditions, search and rescue work, etc. Due to the small size, light weight and small payload of micro UAVs, the computing power and sensor performance of the onboard computer are limited. The limitation of computing power requires that the calculation amount of the algorith...

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Problems solved by technology

[0004] The present invention provides a multi-resolution path planning for the micro-unmanned aerial vehicle under the influence of the wind field, aiming at the practical problems of the existing low-altitude micro-unmanned aerial vehicle in path planning, such as limited computing power, limited sensor performance, an

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