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Close-range geometric obstacle avoidance method of wing fixed unmanned aerial vehicle (UAV)

An unmanned aerial vehicle, short-distance technology, applied in the direction of radio wave measurement system, radio wave reflection/re-radiation, measurement device, etc., to achieve the effect of easy operation, high reliability and quick response

Active Publication Date: 2017-03-08
FLIGHT AUTOMATIC CONTROL RES INST
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved in the present invention is to propose a fixed-wing UAV close-range geometric obstacle avoidance method to solve the problem of fixed-wing UAV obstacle avoidance in complex environments

Method used

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  • Close-range geometric obstacle avoidance method of wing fixed unmanned aerial vehicle (UAV)
  • Close-range geometric obstacle avoidance method of wing fixed unmanned aerial vehicle (UAV)
  • Close-range geometric obstacle avoidance method of wing fixed unmanned aerial vehicle (UAV)

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Embodiment Construction

[0024] A specific embodiment of the short-distance geometric obstacle avoidance method for the fixed-wing unmanned aerial vehicle of the present invention,

[0025] 1. Obstacle positioning

[0026] For short-distance obstacle avoidance, higher precision is required for obstacle detection. This test uses the UTM-30LX laser radar of Japan HOKUYO company. The laser radar has a range of 30 meters, a horizontal viewing angle of 270°, an angular resolution of 0.25°, and an accuracy of 3cm, which can meet the requirements of this method. The lidar is installed at the nose of the drone. In this method, the laser radar is used to detect surrounding obstacles, and the position of the obstacle is calculated through the relative position of the UAV and the obstacle and the current position of the UAV. At the same time, the size of the obstacle can be obtained.

[0027] 2. Set the safe area

[0028] Since the small fixed-wing UAV may be affected by the external environment during fligh...

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Abstract

The invention relates to a close-range geometric obstacle avoidance method of a wing fixed UAV, and belongs to the technical field of UAV autonomous control. Technical research on autonomous flight of the wing fixed UAV facing such complex environment draws attention of the military gradually due to advantages of high flight speed, low noise and long duration of the wing-fixed UAV. The method is mainly used for close-range geometric avoidance of the wing fixed UAV, laser radars and a geometric method are used, the required deflection angle and the speed of the deflection angle are calculated, and the method has the advantages of rapid response, high reliability and easy operation.

Description

technical field [0001] The invention belongs to the autonomous control technology of unmanned aerial vehicles, and in particular relates to a short-distance geometric obstacle avoidance method for fixed-wing unmanned aerial vehicles. Background technique [0002] With the rapid development of UAV technology, it has increasingly wide applications in military and civilian fields such as enemy reconnaissance, regional surveillance, agricultural production, meteorological detection, and disaster detection. In the face of complex environments, such as rugged mountainous areas, cities with many buildings and other application scenarios, UAVs are required to have a higher level of autonomy to avoid obstacles. [0003] At present, great progress has been made in the research of autonomous flight technology such as small helicopters and quadrotor aircraft for use in urban buildings, forests and mountainous environments. Due to the advantages of fast flight speed, low noise and long ...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08G01S13/93
Inventor 马蓉陈小龙李嘉张奕烜
Owner FLIGHT AUTOMATIC CONTROL RES INST
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