Three-dimensional obstacle avoidance method for ground surface close-range autonomous exploration unmanned aerial vehicle based on preset route

Abstract

The invention discloses a three-dimensional obstacle avoidance method based on a preset route for a ground surface close-range autonomous exploration unmanned aerial vehicle. The method comprises thesteps of: when the unmanned aerial vehicle performs a ground surface close-range autonomous exploration task, according to demands of the task, selecting an artificial potential field method as an obstacle avoidance algorithm; presetting the route of the unmanned aerial vehicle, and establishing a coordinate system in a direction from a departure point in the preset route to a target point; improving the artificial potential field method and providing an obstacle avoidance principle, which is introducing a line potential field, so that the unmanned aerial vehicle can return to the preset routeafter the obstacle is effectively avoided; improving a repulsive potential field so that the unmanned aerial vehicle can autonomously escape a local minima; constructing an obstacle avoidance scene of the unmanned aerial vehicle performing the task according to a post-disaster scene, approximating the obstacle as a spherical shape, and constructing an obstacle scene; and in the obstacle avoidancescene, performing three-dimensional simulation and analysis on the trajectory and the speed of the unmanned aerial vehicle performing the task, and verifying the feasibility of the method. Accordingto the three-dimensional obstacle avoidance method based on the preset route for the ground surface close-range autonomous exploration unmanned aerial vehicle, the three-dimensional obstacle avoidanceof the unmanned aerial vehicle based on the preset route is realized, the trajectory of the obstacle avoidance process is smooth, and the speed of the unmanned aerial vehicle is stable.

Description

technical field [0001] The invention relates to the field of autonomous obstacle avoidance of unmanned aerial vehicles, in particular to a three-dimensional obstacle avoidance method based on a preset route based on a ground surface short-distance autonomous exploration unmanned aerial vehicle. Background technique [0002] With the rapid development of sensing technology and embedded systems, the autonomy of drones is increasing day by day, and the navigation of drones is becoming more and more mature. However, in practical applications, the environment is complex, and drones will inevitably encounter obstacles. The ability to avoid obstacles has become the most important factor to measure the autonomy of drones, so the obstacle avoidance of drones has become a current research hotspot. [0003] At present, domestic and foreign scholars' research on UAV obstacle avoidance is mainly based on UAV obstacle avoidance in two-dimensional space, and obstacle avoidance methods emer...

AI Technical Summary

Problems solved by technology

However, in order to improve the autonomy of UAVs in practical applications, obstacle avoidance is often accompanied by route following. Therefore, most current obstacle avoidance methods cannot complete obstacle avoidance based on preset routes; Avoid all obstacles. At present, most of the obstacle avoidance methods are researched on the two-dimensional obstacle avoidance around obstacles. For the mission requirements of autonomous detection of UAVs at close range on the ground, UAVs need to perform tasks on the surface. The situation is complicated, and the use of bypassing obstacles (two-dimensional obstacle avoidance) will increase the detection blind spot of the UAV

[0004] In short, the current obstacle avoidance technology has disadvantages when UAVs perform short-distance autonomous exploration on the surface: they cannot be combined with preset routes, and their autonomy is low; obstacle avoidance is mostly two-dimensional, and the detection blind area increases

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