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An automatic obstacle avoidance method for UAV based on the movement vector of the center of the largest inscribed circle

A maximum inscribed circle, automatic obstacle avoidance technology, applied in non-electric variable control, instrument, 3D position/channel control and other directions, can solve the problems of ignoring environmental information and increasing computational complexity

Active Publication Date: 2021-01-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The artificial potential field method is currently the most commonly used local path planning algorithm. This algorithm regards obstacles as particles and ignores their environmental information. When the environment is more complex, the computational complexity increases

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  • An automatic obstacle avoidance method for UAV based on the movement vector of the center of the largest inscribed circle
  • An automatic obstacle avoidance method for UAV based on the movement vector of the center of the largest inscribed circle
  • An automatic obstacle avoidance method for UAV based on the movement vector of the center of the largest inscribed circle

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Embodiment Construction

[0035] The present invention will be described in detail below in conjunction with the accompanying drawings and specific examples.

[0036] The design idea of ​​the present invention is as follows: first, use the angle and distance data measured by the two-dimensional laser radar to establish local environmental information centered on the UAV, and represent the environmental information at this time with a grid map; For the specific positional relationship of obstacles, use the path planning algorithm based on the movement vector of the center of the largest inscribed circle for autonomous obstacle avoidance.

[0037] The present invention is based on the UAV automatic obstacle avoidance method based on the moving vector of the center of the largest inscribed circle. The specific process is as follows:

[0038] Step 1: The radar on the UAV scans the defense area of ​​the UAV to obtain the angle and distance data of the faulty objects in the area, including:

[0039] The rad...

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Abstract

The invention provides a UAV (unmanned aerial vehicle) automatic obstacle avoidance method based on a maximum inscribed circle center motion vector. The specific process of the method comprises a step of obtaining a center of an inscribed circle of a no fault area where a UAV is located at present with the position of the UAV as an original point, a step of calculating a UAV repulsion direction according to an inscribed circle center position, and a step of calculating an obstacle avoidance control quantity according to a circle center movement distance and the repulsion direction, and allowing a UAV flight control system to control according to the control quantity. According to the specific position relationship between the UAV and a horizontal obstacle, the path planning based on the maximum inscribed circle center motion vector is used to carry out autonomous obstacle avoidance.

Description

technical field [0001] The invention belongs to the technical field of obstacle avoidance for unmanned aerial vehicles, in particular to an automatic obstacle avoidance method for an unmanned aerial vehicle based on a movement vector of the center of a maximum inscribed circle. Background technique [0002] Multi-rotor drones have the advantages of small size, light weight, low development cost, and good safety, and have been widely favored by many institutions and companies. At present, multi-rotor UAVs are widely used in security patrols, power patrols, plant protection, express delivery, disaster search and rescue and other operations. However, drones may encounter obstacles at any time during manual or automatic patrols. In order to ensure the safety of drones and personnel, the autonomous obstacle avoidance system is particularly important. [0003] At present, the obstacle avoidance sensors mainly used are ultrasonic or visual sensors, which are easily affected by the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 潘峰白伟邢伯阳冯肖雪李位星高琪高岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY