A Method of Track Planning in Dynamic Environment Based on Cultural Algorithm
A technology for trajectory planning and dynamic environment, applied in the field of UAV, can solve the problems of long time consumption and inability to meet real-time planning, and achieve the effect of excellent trajectory, taking into account real-time requirements and short planning time.
Inactive Publication Date: 2018-12-21
NANCHANG HANGKONG UNIVERSITY
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The existing trajectory planning methods based on evolutionary calculation are all offline trajectory planning methods. Because evolutionary calculation is a random search algorithm, it needs to search for optimization in the entire planning space. Although the optimal trajectory can be found, it takes a long time and cannot meet the requirements. Requirements for real-time planning
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[0026] The specific embodiment of the present invention will be described in detail below in conjunction with accompanying drawing:
[0027] The present invention proposes a method for solving the problem of unmanned aircraft track planning in a dynamic environment based on cultural algorithms, and the specific steps are as follows:
[0028] Step 1. Obtain map information and flight mission information
[0029] Load the environment map and if figure 1 The threat probability map of , generated as figure 2 The equivalent digital map; obtain the map coordinates corresponding to the starting position of the aircraft and the map coordinates corresponding to the target point position; determine the maximum pitch angle and yaw angle of the aircraft, the flight speed of the aircraft, the moving speed of the target point and other information.
[0030] Step 2. Generate an initial feasible trajectory;
[0031] Use the online trajectory planning method D* algorithm to generate a feas...
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The present invention proposes a trajectory planning method in a dynamic environment based on a cultural algorithm, and relates to an online trajectory planning technology. The method is characterized by: (1) using the online trajectory planning method to plan an accessible trajectory. (2) Extract the feature nodes in the reachable track as knowledge. (3) Use the knowledge to determine the planning space, and use the off-line planning method to plan the optimal flight path in the planning space. (4) In response to environmental changes, use the online trajectory planning method to re-plan the unreachable part of the trajectory, and use knowledge to guide and optimize. The advantages of the present invention are: in a dynamic environment, compared with the existing online track planning method, the flight track can be planned more quickly, and the obtained track is the optimal track at the same time, which enhances the response ability of the aircraft to unexpected situations, and Further reducing the probability of encountering unexpected situations during flight.
Description
technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and relates to a cultural algorithm for solving the problem of unmanned aircraft track planning, in particular to a cultural algorithm-based track planning method in a dynamic environment. Background technique [0002] The problem to be solved in trajectory planning is to find a trajectory that can make the aircraft complete the task quickly and safely. Existing methods can ensure that a feasible flight path is planned when the environment and other influencing factors are known. However, the environment in the real world is constantly changing. Unmanned aerial vehicles will encounter problems such as changes in threats and movement of target points when flying. At this time, the trajectory needs to be changed accordingly according to the real-time situation. [0003] In order to enable UAVs to respond to environmental changes in a timely manner during flight, existing online tr...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈昊黎明李军华王华许春蕾周璐江乐旗
Owner NANCHANG HANGKONG UNIVERSITY