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Unmanned aerial vehicle three-dimensional airway planning method based on space compression and table-lookup calculation

A technology of space compression and route planning, which is applied in the field of route planning and 3D route planning of UAVs, and can solve problems such as limited computing power and storage space

Active Publication Date: 2016-07-06
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

Limited by the computing power and storage space of the onboard computer, the commonly used 3D route planning methods are difficult to meet the needs of UAV online route planning.

Method used

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  • Unmanned aerial vehicle three-dimensional airway planning method based on space compression and table-lookup calculation

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings and examples, but the parameters thereof are not limitations of the present invention.

[0032] Step 1: Initialization and Environment Modeling

[0033] The horizontal plane projection of the UAV's activity range is evenly divided into Maxrow×Maxcol grids. The grid size is consistent with the accuracy of the terrain data file used. The number of grid rows Maxrow and the number of grid columns Maxcol are divided by the UAV's activity range. Obtained with the grid size, construct and initialize a Maxrow×Maxcol planning space matrix M as the mapping of the actual 3D search space, where Maxrow and Maxcol are the maximum number of rows and columns of the planning space matrix M respectively, construct an empty complete The minimum binary heap is used as the Open list of the A* algorithm, and the global variable reuse identifier of the planning space matrix M is initialized;

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Abstract

The invention provides an unmanned aerial vehicle three-dimensional airway planning method based on space compression and table-lookup calculation, and mainly relates to the field of airway planning, in particular to the field of unmanned aerial vehicle three-dimensional airway planning. Unmanned aerial vehicle online rapid three-dimensional airway planning is achieved. On the basis of the standard A* algorithm, jump extension of the similar sparse A * algorithm is adopted, child nodes are changed to plane discretization distribution, and by means of a way of optimal compression in the height direction, the relative relation between the child nodes and a father node is calculated in advance, tabulated and stored; the table is looked up to obtain a value for each time of extension, the search space data structure is improved, the planning space can be repeatedly used during repeated airway planning, and the reinitialization time is saved. According to the method, on the basis of reserving the advantages of an original algorithm, the number of the nodes is greatly reduced, the algorithm efficiency is improved, and the replanning ability of the algorithm is improved.

Description

technical field [0001] The invention relates to the field of route planning, in particular to the field of three-dimensional route planning of unmanned aerial vehicles. Background technique [0002] UAVs have the characteristics of good maneuverability, strong survivability, low cost, high cost-effectiveness and no risk of casualties. They can perform various tasks such as aerial reconnaissance, ground strikes, ground surveillance and eavesdropping, and electronic interference. It is an important part of defending airspace and territorial waters, maintaining homeland security, and strengthening national defense forces. [0003] UAV route planning refers to finding a route from the current point of the UAV to the target point in space. The route must meet the route constraints and safety conditions, and make the voyage as short as possible. It is to realize the autonomous navigation of UAVs. and the key to mission assurance. The UAV route planning problem is a typical NP pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 张安李冲毕文豪
Owner NORTHWESTERN POLYTECHNICAL UNIV
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