Black zone-introduced express unmanned aerial vehicle track planning method based on A<*> and ant colony hybrid algorithm

A track planning and hybrid algorithm technology, applied in the field of express UAV track planning and UAV track planning, can solve problems such as difficult principles, achieve short paths, reasonable UAV tracks, and UAV track The effect of less energy consumption

Active Publication Date: 2018-12-04
HUBEI UNIV OF TECH
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Problems solved by technology

[0003] In the prior art, the common ones for UAV track planning are A* and ant colony hybrid algorithm planning, but each algorithm has its own a

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  • Black zone-introduced express unmanned aerial vehicle track planning method based on A&lt;*&gt; and ant colony hybrid algorithm
  • Black zone-introduced express unmanned aerial vehicle track planning method based on A&lt;*&gt; and ant colony hybrid algorithm
  • Black zone-introduced express unmanned aerial vehicle track planning method based on A&lt;*&gt; and ant colony hybrid algorithm

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Embodiment Construction

[0051] The present invention is illustrated below in conjunction with the accompanying drawings, and the parts not described in detail below all adopt the prior art.

[0052] 1 black area

[0053] In order to ensure the rapidity of the UAV, the present invention divides the way the UAV flies over the obstacle into two types, the current flying height is h, and the height of the tall building of the obstacle is h 楼 , the set flight mode change threshold is h s .

[0054] 1: When the difference between the height of the obstacle and the flight height of the UAV is lower than the flight mode change threshold, that is h 楼 -h≤h s , the UAV chooses to fly directly from the top such as figure 1 (b) shown.

[0055] 2: When the height of the obstacle is higher than the flight mode change threshold, that is h 楼 -h>h s , then the UAV chooses to fly around from the side of the obstacle such as figure 1 (a) shown.

[0056]Flight mode 1 (over the top) can keep the UAV at the maximu...

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Abstract

The invention discloses a black zone-introduced express unmanned aerial vehicle track planning method based on an A<*> and ant colony hybrid algorithm. Firstly, the coordinates of an obstacle and thecoordinates of a site express cabinet are determined, a no-fly zone and the obstacle are ignored, and an ant colony algorithm is used to make a track; the starting point, the transit point and the endpoint of the route are confirmed, and an initial route is determined; net points are built, the length and the width of the net are both set to be S m, the margin of at least three net points is built along the edge of the obstacle or the no-fly zone, and the obstacle net and the surrounding margin net are defined as black zones; whether the section of each route passes through the obstacle is judged, if the route passes through the black zone, judgment is made starting from the starting point, an A<*> algorithm is used sequentially until the route bypasses all obstacles or no-fly zones, andexpress unmanned aerial vehicle track planning is completed. The black zones are introduced, the advantages of hybrid use of the A<*> and ant colony hybrid algorithm are integrated, the planned unmanned aerial vehicle track is more reasonable, the route is shorter, and the unmanned aerial vehicle consumes less energy.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle path planning, relates to an unmanned aerial vehicle track planning, in particular to a delivery unmanned aerial vehicle track planning method which introduces the mixed algorithm of A* and ant colony in the black area. Background technique [0002] Nowadays, drones have been applied to many fields. With the rapid development of the express delivery industry, express delivery has gradually become a rigid demand in people's lives. However, with the increasingly fierce competition among major express delivery companies, people's requirements for the time and cost of express delivery are becoming higher and higher. However, due to the limitations of land transportation and other factors, it is difficult to make a major breakthrough in the express delivery time of land transportation. Therefore, the use of drones to transport express delivery has become the focus of major express delivery compa...

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Application Information

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IPC IPC(8): G08G5/00
CPCG08G5/0069
Inventor 王粟李庚朱飞江鑫邱春辉詹逸鹏曾亮徐希张凯
Owner HUBEI UNIV OF TECH
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