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

Abstract

The invention proposes an intelligent optimization method for an unmanned aircraft to autonomously patrol point flights, which includes the following steps: selecting a path point sequence on a preset flight route, and controlling the aircraft to pass through the path points in the path point sequence in sequence; detecting the aircraft and the path in sequence The distance between the path points in the point sequence; when the distance is less than the preset value, a new path point is obtained based on the current path point in the path point sequence and the next path point of the current path point; based on the actual flight route corresponding to the new path point and the error value of the preset flight route, adjust the threshold radius of the path points in the path point column. The intelligent optimization method for autonomous point-to-point flight of an unmanned aircraft according to the embodiment of the present invention overcomes the problems of low efficiency and waste of energy in the point-to-point flight of an aircraft based on PID control. At the same time, it can adapt to the dynamic characteristics of the aircraft through self-regulation. changes, ensuring the stability of the system and improving the autonomous performance of the system.

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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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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