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Energy-saving path planning and obstacle avoiding method for drone

A path planning, UAV technology, applied in control/regulation systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc. Meet maneuver performance constraints, easy to implement, and reduce the effect of turning maneuvers

Inactive Publication Date: 2019-02-15
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The current UAV path planning and obstacle avoidance methods rarely mention the energy consumption of UAVs

Method used

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  • Energy-saving path planning and obstacle avoiding method for drone
  • Energy-saving path planning and obstacle avoiding method for drone
  • Energy-saving path planning and obstacle avoiding method for drone

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Embodiment Construction

[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0042] On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes made within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.

[0043] see figure 1 , figure 1 It is a step flow chart of an embodiment of an energy-saving UAV...

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Abstract

The invention discloses an energy-saving path planning and obstacle avoiding method for a drone, comprising the following steps: 1) detecting obstacles in the forward direction in real time; 2) establishing an obstacle area in where the obstacle is located if there is an obstacle; 3) using the environmental information to initially generate a path connecting a starting point and a target point ofthe drone as a pre-planning path; 4) adjusting potential field coefficients according to the improved artificial potential field method, and generating a plurality of candidate paths considering physical constraints; 5) proposing a cost function considering the energy consumption, the safety, the smoothness, and the energy saving of drones in flight; 6) selecting an optimal path by minimizing thecost function. The path planning and obstacle avoiding method for drone is good in adaptability.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, in particular to an energy-saving method for path planning and obstacle avoidance of an unmanned aerial vehicle. Background technique [0002] With the development of technology, the performance of drones has been significantly improved. In recent years, UAVs have shown great development potential in both military and civilian fields. Autonomous mission execution is an inevitable trend in the future development of UAVs, and path planning is one of the key technologies to improve UAVs' autonomous flight capabilities and ensure flight safety. . [0003] For UAV path planning, in most scenarios, it is hoped that the less energy consumed under the same flight distance conditions, the better, especially in fields such as agricultural operations, power inspections, and geological mapping. It is the most critical to select a most energy-efficient path among the paths. [0004]...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0253G05D1/0276
Inventor 洪慧毛晨悦吴鹏勇
Owner HANGZHOU DIANZI UNIV
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