Autonomous flight path planning method for small-sized unmanned aerial vehicle
A small UAV and trajectory planning technology, applied in the field of UAV, can solve the problems that the range of activities is easily limited to the range of the controller's sight range, and the autonomous flight of small UAVs cannot be realized, so as to achieve a wide range of activities Effect
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[0022] In order to further understand the features, technical means and specific functions achieved by the present invention, this step is described in detail in the following specific embodiments.
[0023] This embodiment provides an autonomous trajectory planning method for a small UAV, including the following steps:
[0024] S1: GPS positioning: use the GPS positioning system of the quadcopter to locate the position of the small UAV itself;
[0025] S2: Use the improved A-Star algorithm as the trajectory planning algorithm to realize the tracking of the small UAV;
[0026] S3: The ant colony evolution algorithm optimizes the feasible track: input the track calculated by the improved A-Star algorithm in S2 to the ant colony algorithm, and the ant colony algorithm optimizes the feasible track to calculate the shortest track line;
[0027] S4: Optimal trajectory post-processing: all trajectory points on the same straight line are summarized into a straight line segment including the fi...
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