Three-dimensional scene path navigation platform for drone and three-dimensional improved path planning method thereof

Abstract

The invention discloses a three-dimensional scene path navigation platform for a drone and a three-dimensional improved path planning method thereof. The method comprises loading DEM map data througha platform based on Unity3d, displaying a three-dimensional scene, carrying out VS2010C++ programming to obtain a DEM-based three-dimensional improved path planning method, acquiring a flight safety path of the drone, acquiring path detection and planning effects through a Matlab2012a drawing plan, introducing a drone model, acquiring the current navigation information of the drone through combination with an miniAHRS attitude sensor, fusing the path planning algorithm to the three-dimensional scene, and carrying out three-dimensional display on the drone flight state and the obstacle avoidance process in real time. The three-dimensional improved path planning method combines the DEM-based improved A* algorithm calculation of a first path, linearization of the first path based on the Bresenham line drawing algorithm and Bezier curve smooth optimization of the linear path. The method has short path planning time, displays a flight state in real time and dynamically displays the path planning and obstacle avoidance process.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a three-dimensional scene path navigation platform for an unmanned aerial vehicle and a three-dimensional improved path planning method thereof. Background technique [0002] Digital elevation map (Digital Elevation Map), referred to as DEM. It is a solid ground model that expresses the ground elevation in the form of a set of ordered numerical arrays. It is a data set of the plane coordinates of regular grid points within a certain range and their elevation or latitude and longitude. With the rapid development of a series of high-tech technologies such as satellite technology and sensor technology, the resolution of DEM digital elevation data is getting higher and higher, which lays a good foundation for the application of DEM data. DEM has a wide range of applications in surveying and mapping, hydrology, meteorology, geomorphology, geology, soil, engineering construction, c...

AI Technical Summary

Problems solved by technology

The algorithm takes a relatively long time, and the obtained path is only a space curve, which does not contain the attitude information of the UAV, and cannot dynamically display the obstacle avoidance process of the UAV.

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