An intelligent optimization method for autonomous patrol flight of unmanned aerial vehicles

An unmanned aerial vehicle, intelligent optimization technology, applied in the control of finding targets, three-dimensional position/channel control, etc., can solve problems such as low efficiency and waste of energy, and achieve the effect of solving low efficiency, ensuring stability, and improving autonomous performance.

Active Publication Date: 2017-03-29
TSINGHUA UNIV
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AI Technical Summary

Problems solved by technology

[0004] For this reason, the object of the present invention is to propose the intelligent optimization method of autonomous patrolling flight of unmanned aircraft, this method has overcome the low efficiency that the aircraft patrolling flight based on PID control exists, wastes energy etc. Adapt to changes in the dynamic characteristics of the aircraft, ensure the stability of the system, and improve the autonomous performance of the system

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  • An intelligent optimization method for autonomous patrol flight of unmanned aerial vehicles
  • An intelligent optimization method for autonomous patrol flight of unmanned aerial vehicles
  • An intelligent optimization method for autonomous patrol flight of unmanned aerial vehicles

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Embodiment Construction

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0021] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element refe...

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Abstract

The invention provides an intelligent independent waypoint-patrolling flight optimizing method for an unmanned aircraft. The intelligent independent waypoint-patrolling flight optimizing method includes steps of selecting waypoint ranges on a preset flight line and controlling the aircraft to sequentially pass waypoints in the waypoint ranges; sequentially detecting the distance between the aircraft and the waypoints in the waypoint ranges; when the distance is smaller than a preset value, obtaining a new waypoint according to the current waypoint in the waypoint ranges and the next waypoint of the current waypoint; adjusting threshold value radius of the waypoints in the waypoint ranges according to the error value between an actual flight line corresponding to the new waypoint and a preset flight line. The intelligent independent waypoint-patrolling flight optimizing method overcomes the problem that PID (proportion integration differentiation) control based aircraft waypoint-patrolling is low in efficiency and energy wasting and the like. Meanwhile, by the aid of self-adjustment and self-adaption of changes of dynamics characteristics of the aircraft, system stability is guaranteed, and system independence performance is improved.

Description

technical field [0001] The invention relates to the field of computer application technology, in particular to an intelligent optimization method for autonomous patrol flight of an unmanned aerial vehicle. Background technique [0002] The unmanned and autonomous robot is one of the important directions for the intelligent research and development of robots today. Unmanned aerial vehicles are one of the special types of robots, which have the characteristics of high maneuverability and complex control. One of the important technologies is path planning, which plans the flight path based on the perceived environmental information and its own task information. When planning the flight path, the traditional algorithm marks the waypoints one by one on the path, and instructs the attitude control system of the aircraft to control the aircraft to reach each waypoint one by one to perform patrol flight. Due to the dynamic characteristics of the aircraft itself and the influence of...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/12
Inventor 戴琼海施泽南李一鹏
Owner TSINGHUA UNIV
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