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Unmanned aerial vehicle path planning method based on floyd algorithm

A technology for path planning and unmanned aerial vehicles, applied in the direction of navigation calculation tools, etc., can solve the problems of low efficiency and high computational complexity, and achieve the effect of high efficiency, simple and effective methods, and easy to understand.

Inactive Publication Date: 2017-03-22
CHONGQING JIAOTONG UNIVERSITY +1
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AI Technical Summary

Problems solved by technology

At present, there are some path planning algorithms, such as dijistra algorithm and HOCAOGLU algorithm, etc., but there are problems such as high computational complexity and low efficiency.

Method used

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  • Unmanned aerial vehicle path planning method based on floyd algorithm
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  • Unmanned aerial vehicle path planning method based on floyd algorithm

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Embodiment Construction

[0031] The present invention will be described in detail below in conjunction with accompanying drawing:

[0032] Such as Figure 1 to Figure 6 Shown:

[0033] A UAV path planning method based on the floyd algorithm, this method is a dynamic path planning based on floyd. Starting from the weighted adjacency matrix A=[a(i,j)]n×n of the graph, recursively perform n times of updates, that is, the matrix D(0)=A, according to a formula, constructs the matrix D(1) ; Construct D(2) from D(1) with the same formula; ... ; Finally, construct matrix D(n) from D(n-1) with the same formula. The element in row i and column j of matrix D(n) is the shortest path length from vertex i to vertex j, and D(n) is called the distance matrix of the graph. At the same time, a successor node matrix path can be introduced to record the distance between two points. the shortest path of . This method finds the shortest path between nodes.

[0034] This method is divided into three parts: determining ...

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Abstract

The invention discloses an unmanned aerial vehicle path planning method based on floyd algorithm, the method comprises the steps of starting from a weighted neighboring matrix A = [a (i, j)] n x n of a graph basing on the dynamic path planning of floyd, carrying out n times of updating recursively, namely constructing a matrix D(1), according to a formula, basing on a matrix D(0) = A; and likewise, using the same formula, constructing D(2) basing on D(1); ......; and finally using the same formula, constructing a matrix D(n) basing on D(n-1), with the ith row jth column element of the matrix D(n) being the shortest path length from the ith row vertex to the jth row vertex, and calling the matrix D(n) as the distance matrix of the graph, meanwhile the method can also introduce a matrix path of a descendant node to record the shortest route between two points, and finding out the shortest route between the beginning node and end node using the method.

Description

technical field [0001] The invention relates to a path planning method for an unmanned aerial vehicle, in particular to a path planning method for an unmanned aerial vehicle based on a floyd algorithm. Background technique [0002] With the development of science and technology, drones are widely used in various fields, such as military, agriculture, construction industry and so on. UAVs include a variety of technologies, such as cooperative control, formation and so on. With heavy tasks and changing multi-machine cooperative tactical applications, it is imminent to effectively organize and scientifically manage UAVs to complete the assigned tasks. Based on this, path dynamic planning and unmanned aerial vehicles are a pivotal technology and are indispensable. The dynamic planning of UAV path can not only improve efficiency but also ensure safety, which is a key technology of UAV. [0003] During the flight of the UAV, there may be countless paths to reach the target node...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 黄大荣柯兰艳孙国玺丁静刘进宇马天立赵栋赵玲
Owner CHONGQING JIAOTONG UNIVERSITY
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