A three-dimensional obstacle avoidance method for UAVs for close-range autonomous exploration of the surface based on preset routes

Abstract

The invention discloses a three-dimensional obstacle avoidance method for an unmanned aerial vehicle for short-distance autonomous exploration of the ground surface based on a preset route, which includes: when the unmanned aerial vehicle performs a task of autonomous exploration for short-distance ground surface, the artificial potential field method is selected as the avoidance method according to the task requirements. Obstacle algorithm; preset routes for UAVs, and establish a coordinate system in the direction from the starting point to the target point in the preset routes; improve the artificial potential field method and propose the principle of obstacle avoidance: introduce the line potential field, make the UAV After effectively avoiding obstacles, return to the preset route; improve the repulsion potential field, so that the UAV can escape from the local minimum point autonomously; according to the post-disaster scene, build an obstacle avoidance scene for the UAV to perform tasks, and approximate the obstacles The obstacle scene is constructed in a spherical shape; in the obstacle avoidance scene, a three-dimensional simulation analysis is performed on the trajectory and speed of the UAV when performing tasks to verify the feasibility of the method. The invention can realize the three-dimensional obstacle avoidance of the unmanned aerial vehicle based on the preset route, 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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