Unmanned aerial vehicle independent pathfinding obstacle avoiding method and system

A technology for unmanned aerial vehicle and obstacle avoidance, which is applied in control/adjustment system, vehicle position/route/height control, non-electric variable control, etc. It can solve problems such as lack of performance in the field of dynamic environment, and achieve simple, fast and responsive calculation process Fast speed and good real-time effects

Active Publication Date: 2018-08-24
NORTHEASTERN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

Since most of the existing related algorithms deal with static maps and environments, although they

Method used

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  • Unmanned aerial vehicle independent pathfinding obstacle avoiding method and system
  • Unmanned aerial vehicle independent pathfinding obstacle avoiding method and system
  • Unmanned aerial vehicle independent pathfinding obstacle avoiding method and system

Examples

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Embodiment 1

[0081] Embodiment 1, wherein, step S1 includes: obtaining the position information of the obstacle in the sensor coordinate system through laser and ultrasonic sensors, converting it to the UAV coordinate system through coordinate change, and then converting it to the inertial coordinate system through the navigation system The position of the system is displayed, so as to obtain the position information of the dynamic obstacle.

[0082] The planning space is divided into several basic units with regular shapes by using the unit decomposition modeling method. Each basic unit is divided into nodes containing obstacles and nodes not containing obstacles. These nodes can intuitively describe the environmental information and facilitate Computer storage, and at the same time, each node is convenient to split, which is convenient for planning algorithm processing operations.

[0083] The grid method for 3D environment modeling is to divide the limited 3D planning space into units o...

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Abstract

The invention provides an unmanned aerial vehicle independent pathfinding obstacle avoiding method and system. The method comprises the following steps of collecting position information of an obstacle; performing three-dimensional environment modeling by a grid method; a model is divided into a plurality of grids; the grids comprising obstacles and grids not comprising the obstacles are subjectedto treatment of different colors; the grids are divided through a judging plane passing through an initial point and a target terminal point to obtain a two-dimensional grid model; on the basis of anA* algorithm, the global static path plan is made on the two-dimensional grid model; after the global static path planning, the local dynamic path planning is performed; through a Bezier curve, the planned path points are subjected to track tracking; the smoothening processing on the path track is completed. Through the global static path planning and the local dynamic path planning, an unmannedaerial vehicle can timely discover the obstacle position change due to dynamic change of environment; the calculation process is simple, convenient and fast; the problem that the obstacle collision easily occurs in a conventional flight route is solved.

Description

technical field [0001] The invention relates to the field of UAV path planning and trajectory tracking, in particular to a UAV autonomous path finding and obstacle avoidance method and system. Background technique [0002] UAVs can perform tasks with various requirements in complex environments. Due to the complexity and variability of the environment, UAVs will encounter various problems when performing tasks. The main problem is that the obstacles around the UAV increase due to the changeable environment, making it impossible for the UAV to bypass the obstacles and perform tasks correctly. Going directly around obstacles in a straight line may also cause an accident with a collision paddle. Due to the complexity and variability of the environment, static obstacle avoidance pathfinding can no longer meet the ever-changing complex environment. Therefore, a dynamic planning method that monitors environmental changes in real time and changes paths in real time must be adopted...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101
Inventor 王骞翰徐博黄伟王猛王鸣晓
Owner NORTHEASTERN UNIV
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