An Iterative Fast Extended Random Tree irrt Path Planning Method for UAV

A path planning and random tree technology, applied in the direction of navigation calculation tools, etc., can solve the problem of poor repeatability of the path, achieve the effect of accelerating the convergence speed, accelerating the convergence speed, and improving the path quality

Active Publication Date: 2020-04-07
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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  • An Iterative Fast Extended Random Tree irrt Path Planning Method for UAV
  • An Iterative Fast Extended Random Tree irrt Path Planning Method for UAV
  • An Iterative Fast Extended Random Tree irrt Path Planning Method for UAV

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[0028] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and description of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0029] Such as figure 1 , figure 2 As shown, an iterative and rapidly expanding random tree IRRT UAV path planning method of this embodiment includes the following steps:

[0030] S1, determine the starting point X start And end point X goal , Determine the step size and the maximum number of iterations iter, with X start To quickly expand the root node of the random tree RRT, use X goal In order to rapidly expand the target point of the random tree RRT, initialize the fast expanding random tree RRT;

[0031] S2, with X start As the starting point, expand the RRT of the initialized rapid expansion random tree, and generate random points X with stepsize rand , And the random probability P is biased towards the targ...

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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 UAV path planning, in particular to an iterative and rapidly expanding random tree IRRT UAV path planning method. Background technique [0002] Unmanned aircraft is abbreviated as "unmanned aerial vehicle", which is an unmanned aircraft operated by radio remote control equipment and self-provided program control devices, or completely or intermittently autonomously operated by an onboard computer. At present, drones are used in aerial photography, agriculture, plant protection, micro selfies, express transportation, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting, romance and other fields. Wide range of uses. In order to realize the intelligence of drones, path planning is a key link in the autonomous flight of drones. The main purpose of path planning is to plan a flight path (from sta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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