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UAV path correction method and system based on quasi-uniform spline curve

A spline curve, UAV technology, applied in control/adjustment systems, vehicle position/route/altitude control, data processing applications, etc., can solve problems such as reduced effects and UAVs unable to fly according to the path

Active Publication Date: 2020-02-07
NO 709 RES INST OF CHINA SHIPBUILDING IND CORP
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  • Claims
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Problems solved by technology

If the planned path, the UAV cannot fly according to the path, then the effect of such a path planning will be compromised

Method used

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  • UAV path correction method and system based on quasi-uniform spline curve
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  • UAV path correction method and system based on quasi-uniform spline curve

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Embodiment Construction

[0029] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the invention.

[0030] Such as figure 1 As shown, the embodiment of the present invention provides a UAV path correction method based on a quasi-uniform spline curve, such as figure 2 As shown, the UAV path correction method based on the quasi-uniform spline curve comprises the following steps:

[0031] S1. Establish a dynamic obstacle model, and plan a straight line path connecting the starting point and the ending point.

[0032] Specific as image 3 As shown, the step S1 includes the following sub-steps:

[0033] S11. Draw obstacles around the initial path, each obstacle is represented by a re...

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Abstract

The invention discloses a UAV path correction method and system based on a quasi-uniform spline curve. A dynamic barrier model is established to plan a straightway path that connecting an origin point and a terminal point; a quasi-uniform cubic B spline curve is drafted by taking intersection points between straightways as control points and the straightway path as a control polygon; a curve segment intersected with a barrier and a straightway corresponding to the intersected curve segment are found, the control points are added to the corresponding straightway, and the curve is adjusted so as to pass the control points; and a control point group and the curve are updated, fine tuning is carried out on the control points according to curvature and safety constraints of a UAV, and a UAV flight path is obtained finally. According to the invention, the B spline curve is corrected by adding the control points, the curve approaches the polygon formed by the control points gradually, the UAV flight path can avoid barriers accurately, the C2 curvature of the whole flight path is continuous, and curve segments that needs no correction can maintain the original form as possible.

Description

technical field [0001] The invention relates to the technology in the field of general aviation control, in particular to a UAV path correction method and system based on a quasi-uniform spline curve. Background technique [0002] With the popularization and miniaturization of various UAVs, there are more and more researches on UAV control technology, and the research directions are becoming more and more detailed. In addition to the irregular and steeply changing characteristics of obstacles, there is also a remarkable feature of UAV building travel that is densely arranged. When the path to be planned is very long, there is a high probability that the path will become very complicated. If the path is a curve controlled by control points, it is far from being solved by 3 or 5 control points; and dense Another problem with the buildings is that if the path planning in a certain area is okay, we don't want it to change, because the change will cause uncertainty. That is to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G06Q10/04
CPCG05D1/101G06Q10/047
Inventor 周昱肖勇田衍
Owner NO 709 RES INST OF CHINA SHIPBUILDING IND CORP
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