Drone route planning method in mountainous area with flight safety degree being restrained

Abstract

The invention discloses a drone route planning method in a mountainous area with the flight safety degree being restrained. The drone route planning method comprises the following steps that 1, a Voronoi pattern is built by combining the starting point, the target point and the position where a barrier is located, the initial solution of the route is formed; 2, a rectangle is formed by taking thestarting point and the ending part as diagonal lines, and the areas in the rectangle are the flight routes; 3, a dangerous area, a relatively safe area and a safe area are drawn by taking the barrieras the circle center, and the route safety is estimated; 4, screening is conducted according to different route safety requirements and the effect range route of a threatening area, and the route which cannot meet the safety requirement is excluded; and 5, the rest routes are equivalent to a network drawing, the shortest route is selected by using Dijkstra algorithm. The drone route planning method has the advantages that 1, the route can be selected according to the different safety requirements; 2, the feasible solutions are screened by combining the safety requirement of the route, the complexity of the network drawing is lowered, and the calculation rate of the Dijkstra algorithm is improved; and 3, the safety of the route is directly reflected.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a path planning method for an unmanned aerial vehicle with flight safety constraints in mountainous areas. Background technique [0002] With the development of drone technology, drones are used in more and more fields, such as: agricultural plant protection, material delivery, data collection, cultural media, etc. In recent years, the development of UAVs has been extremely rapid, and the manufacturing cost has become lower and lower. As the isolated operation mode is gradually difficult to meet the growing application requirements of UAVs, more UAVs will fly into the integrated airspace in the future. The collision problem of manned aircraft, birds and other aerial objects has become increasingly prominent. In the field of material delivery, obstacles such as trees and wires that appear during the flight of the drone will affect the accuracy of the delivery of ...

AI Technical Summary

Problems solved by technology

[0005] The disadvantages of the Dijstra algorithm for planning the flight path of the UAV are: 1. When the distance between adjacent obstacles is relatively close, the path is more dangerous; 2. When there are too many initial solutions, the calculation speed is slow; 3. It cannot be accurately judged How safe is the path

[0008] The disadvantages of the artificial potential field method are: 1. When the distance between two adjacent obstacles is relatively close, the planned path may not meet the flight safety requirements of the UAV

2. It cannot reflect the safety of the path

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