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Unmanned aerial vehicle path planning method of iterative rapidly-exploring random tree IRRT

A path planning and random tree technology, applied in navigation calculation tools and other directions, can solve problems such as poor path repeatability, and achieve the effect of speeding up the convergence speed, speeding up the speed of convergence, and improving the quality of the path.

Active Publication Date: 2018-08-28
XIDIAN UNIV
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Problems solved by technology

[0007] The purpose of the present invention is to provide an iterative rapid expansion random tree IRRT UAV path planning method, which introduces random probability P and speeds up the convergence speed by iteratively comparing and storing the last cycle tree where the better path is located. When the machine encounters a dynamic obstacle, it performs local re-planning instead of global re-planning of the path to solve the problem of poor path repeatability

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.

[0028] Such as figure 1 , figure 2 As shown, the unmanned aerial vehicle path planning method of a kind of iterative rapid expansion random tree IRRT of the present embodiment, comprises the following steps:

[0029] S1. Determine the starting point X start and end point X goal , determine the step size stepsize and the maximum number of iterations iter, with X start For the root node of the rapid expansion random tree RRT, X goal In order to quickly expand the target point of the random tree RRT, initialize the fast expanded random tree RRT;

[0030] S2, with X start As the starting point, expand the rapidly extended random tree RRT after initialization, and generate random points X with the step size rand ...

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Abstract

The invention discloses an unmanned aerial vehicle path planning method of an iterative rapidly-exploring random tree IRRT. According to the method disclosed by the invention, heuristic information isintroduced; when a new leaf node Xnew is increased by random sampling, random probability P is introduced; then the new leaf node Xnew is deviated to a target point according to the certain probability; the randomness of the newly-increased leaf node Xnew is weakened; meanwhile, all advantages of an original algorithm are also inherited and a convergence speed is increased; on the basis, a relatively good path is obtained through iteration comparison; a period tree on the relatively good path is stored and the path planning problem in a dynamic environment is solved; the planned path is closeto the relatively good path and the quality of the path is greatly improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle path planning, in particular to an iterative rapid expansion random tree IRRT unmanned aerial vehicle path planning method. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device, or is completely or intermittently operated autonomously by an on-board computer. At present, UAVs are used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting, and romance. Wide range of uses. In order to realize the intelligentization of UAVs, path planning is the key link of UAV autonomous flight. It can greatly reduce the fuel consumption of drones and reduce the incide...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 郭宝龙郭新兴刘阿敏李诚王滢安陆宁伟康
Owner XIDIAN UNIV
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