A fire-fighting UAV flight path planning method based an obstacle avoiding system

A track planning and unmanned aerial vehicle technology, applied in navigation calculation tools, three-dimensional position/course control, etc., can solve the problems of complex objective function, difficult to meet the rapid response requirements of the UAV obstacle avoidance system, etc., and achieve high execution efficiency , reduce power consumption, and increase bandwidth

Inactive Publication Date: 2018-01-12
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

They have their own advantages and disadvantages. Under certain conditions, UAV trajectory planning can be realized. However, due to the complex flight environment, the objective function of UAV trajectory planning is

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  • A fire-fighting UAV flight path planning method based an obstacle avoiding system
  • A fire-fighting UAV flight path planning method based an obstacle avoiding system
  • A fire-fighting UAV flight path planning method based an obstacle avoiding system

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Embodiment Construction

[0050] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0051] In order to realize the rapid obstacle avoidance of the fire-fighting UAV, the patent of the present invention combines the measurement data of the ultrasonic module sensor with the Arduino single-chip microcomputer control system to propose a fast obstacle-avoidance method. Fast obstacle avoidance function in flight environment.

[0052] In order to realize the function of quickly avoiding obstacles when the fire-fighting UAV flies autonomously according to the predetermined trajectory, the patent of this invention will be based on the ultrasonic obstacle avoidance system and use the A* search algorithm to plan the UAV's trajectory.

[0053] The present invention will be further described below in conjunction with the embodiments and with reference to the accompanying drawings.

[0054] The present invention designs a set of obstacle avoidance schemes, a...

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Abstract

The invention relates to a fire-fighting UAV flight path planning method based an obstacle avoiding system. Ultrasonic distance-measurement sensors are arranged before, behind, on the left side and onthe right side of an UAV. When the measured distance is not less than a safety distance, an original control signal is output and the UAV will fly normally as planned. When an obstacle is found in one direction of the UAV, it is judged that collision is about to occur. A flying control system will take actions such as throttling back and tilting and flying towards the direction opposite to the obstacle according to the measured distance to avoid the obstacle. According to the invention, the obstacle avoidance algorithm designed in the invention has the advantages of good compatibility and high implementation efficiency compared with the traditional local obstacle avoidance planning algorithms (the artificial potential field method and the grid method). Based on the ultrasonic obstacle avoidance system, the adopted A* search algorithm can effectively reduce the computational load of an airborne controller, and can ensure that the UAV can quickly avoid obstacles in emergencies and planout new flight paths in time.

Description

technical field [0001] The invention belongs to the field of fire-fighting drones, and relates to a track planning method for fire-fighting drones based on an obstacle avoidance system. Background technique [0002] UAVs have strong advantages in the detection and rescue missions of urban high-rise building fires. In order to reach the fire scene quickly and accurately, it is necessary to ensure that the fire-fighting UAV can fly to the destination with the least time, fuel consumption and environmental threats. ground, and can ensure that the UAV has the ability to respond quickly to obstacles that appear suddenly. [0003] Conventional UAV planning algorithms mostly use dynamic programming method, A* search method, Voronoi diagram algorithm, artificial potential energy method, ant colony algorithm, genetic algorithm, etc. They have their own advantages and disadvantages. Under certain conditions, UAV trajectory planning can be realized. However, due to the complex flight ...

Claims

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Application Information

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IPC IPC(8): G05D1/10G01C21/20
Inventor 李伟王佩张科徐有新吕梅柏王靖宇陈勃羽张彦华陈汛科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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