Obstacle area division method based on the minimum circumscribed circle and the maximum inscribed circle

Abstract

A method for dividing obstacle areas based on the minimum enclosing circle and the maximum inscribed circle. According to the speed and heading of the moving object, the maximum turning curve of the moving object is obtained; m obstacle areas are loaded into the map, and the obstacle area is divided according to the initial planning granularity N N partitions, for each partition, generate the minimum outer circle and the largest inscribed circle; draw tangents to the two types of circles from the current position of the moving object, and the areas surrounded by the tangents are defined as the current no-go zone and restricted zone respectively They are all m*N, and then take the union respectively to obtain the current total restricted area and the total restricted area. The areas outside these two types are safe areas; judge whether there is an intersection point between the maximum turning curve of the moving object and the tangent of the two types of circles, and then Judging whether the granularity N needs to be increased according to the obstacle threat degree; high threat degree obstacles only allow planning in safe areas, and general threat obstacles allow planning in some restricted areas and safe areas; the current total planable area and total restricted area before output Area divisions of zones and general no-go zones.

Description

technical field [0001] The invention relates to a multi-granularity representation method for obstacles in the path planning of a fixed-wing aircraft and a design for the method used in the path planning. Background technique [0002] In aircraft path planning, obstacles in the environment are the main objects of path planning, and an effective obstacle representation method will simplify the path planning of the aircraft and improve the overall performance of path planning. However, in the current research, most of the attention is focused on the research of path planning algorithm (scheme), and the processing of the flight environment is often very simple, and there is no effective method or mode for the path planning of the aircraft. to model or describe environmental obstacles. The main features of the current research are summarized as follows: [0003] There is no specific representation and description of obstacles, and the planning area is only marked as a feasible...

AI Technical Summary

Problems solved by technology

Therefore in the present invention emphatically solves following basic problem:

[0019] 2. Provide a method for quickly judging obstacles, and solve the problem that existing methods cannot give a planable track area;

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