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Control method and device of unmanned device

A control method and equipment technology, applied in the direction of non-electric variable control, control/regulation system, three-dimensional position/channel control, etc., can solve problems such as obstacle collision of unmanned equipment

Active Publication Date: 2016-07-20
SHENYANG SHANGBO ZHITUO TECH CO LTD
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Problems solved by technology

[0004] The present disclosure provides a method and device for controlling unmanned equipment, which are used to solve the problem that unmanned equipment may collide with obstacles in the prior art

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  • Control method and device of unmanned device
  • Control method and device of unmanned device
  • Control method and device of unmanned device

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Embodiment Construction

[0103] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementations described here are only used to illustrate and explain the present disclosure, not to limit the present disclosure.

[0104] figure 1 It is a schematic flowchart of a control method for unmanned equipment provided by an embodiment of the present disclosure, see figure 1 , the control method of the unmanned equipment may include the following steps:

[0105] Step 101, acquiring an external input reference, where the external input reference is a preset planned path.

[0106] Step 102: Divide the planned route into at least a section of sub-paths according to the inflection points in the planned route.

[0107] Step 103, according to the initial power system model of the unmanned device and the preset external reference input integration model, respectively obtain the invariant set and ...

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Abstract

The invention discloses a control method and device of an unmanned device. The method comprises that external input reference which includes a preset planned path is obtained; the planned path is divided into at least one sub path according to inflection points in the planned path; an invariant set and a corresponding reachable set of each sub path are obtained according to an initial power system model of the unmanned device and a preset external reference input integration model; and a practical path of the unmanned device is determined according to the intersection points between the reachable set of each sub path and the sub path itself. Requirements of the external environment and dynamic requirements of the unmanned device are met at the same time, and the unmanned device is prevented from colliding with barriers.

Description

technical field [0001] The present disclosure relates to the field of unmanned equipment control, in particular to a control method and device for unmanned equipment. Background technique [0002] Unmanned equipment such as drones, unmanned vehicles, unmanned ships, and unmanned submersibles have been more and more widely used in military and civilian fields. Faced with different working environments, unmanned equipment needs to have the ability to ensure its own safe operation and complete the set tasks. However, due to its own dynamic constraints and the constraints of the external environment, there are many challenges in realizing this capability. [0003] In the current existing technology, a series of path planning methods have been proposed, such as methods based on artificial potential fields, methods based on graph theory, and random adoption methods. A series of waypoints or feasible paths constrained, by making the unmanned equipment track these waypoints or fea...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 苏文博白勍李明
Owner SHENYANG SHANGBO ZHITUO TECH CO LTD
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