Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm. The algorithm includes the following steps that: the flight parameters of an unmanned aerial vehicle in a navigation coordinate system are recorded, wherein the flight parameters includes the real-time positions and velocity vectors of the unmanned aerial vehicle at each recording point; flight trajectory intersecting points are searched according to the flight parameters of the recording points, the take-off point, flight trajectory intersecting points and homeward flight starting point of the unmanned aerial vehicle are collectively defined as points of interest, and a distance between any two points of interest along a flight trajectory is calculated, and an adjacent matrix is formed; a multi-tree structure is constructed, a shortest homeward flight path is searched in the multi-tree structure through using a depth priority method; and the shortest homeward flight path is tracked. The homeward flight path planned by the algorithm is the subset of all recorded paths in flight, and therefore, obstacles which may come across in a linear homeward flight mode can be effectively avoided.

Description

technical field [0001] The invention belongs to the technical field of aircraft navigation, guidance and control, and specifically relates to a multi-rotor unmanned aerial vehicle automatic return path planning algorithm, which is suitable for automatic return under normal and fault conditions when the multi-rotor unmanned aerial vehicle flies in a relatively complex environment Path planning in the process. Background technique [0002] Multi-rotor drones are widely used in industries such as film and television aerial photography, land surveying and mapping. Due to their high degree of automation and simple operation, they are also used in non-professional fields. Highly automated multi-rotor UAVs have the ability to automatically return to the take-off point or set point. The return can be triggered by the operator or a fault handling program. Currently, in the process of automatic return of multi-rotor UAVs, in order to avoid returning to the same route The shortcoming ...

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Problems solved by technology

[0003] The purpose of the present invention is to aim at the above-mentioned problems existing in the prior art, to provide a kind of multi-rotor UAV automatic return path planning algorithm, when the flight range is small and the surrounding environment is relatively complicated (such as there are many tall buildings or tall buildings around Trees), this algorithm can intercept the shortest part from the original flight path as the return path, thus avoiding the disadvantage that the straight-line return cannot avoid obstacles

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