Probability density-based unmanned aerial vehicle three-dimensional path obstacle avoidance method

Abstract

The invention relates to a probability density-based unmanned aerial vehicle three-dimensional path obstacle avoidance system. The system is characterized in that the unmanned aerial vehicle three-dimensional path obstacle avoidance system comprises an information processing module, an attitude recognition module, an attitude adjustment module, an information acquisition module and an obstacle avoidance execution module, wherein the attitude recognition module, the attitude adjustment module, the information acquisition module and the obstacle avoidance execution module are all connected withthe information processing module; and the three-dimensional path obstacle avoidance system further comprises a wind speed detection module. With the system adopted, surrounding environmental parameters can be monitored in real time during the obstacle avoidance process of an unmanned aerial vehicle, the influence of wind speed in the flight state of the unmanned aerial vehicle on obstacle avoidance is considered; a drift quantity caused by wind is corrected, and the obstacle avoidance efficiency of the unmanned aerial vehicle is improved. The system has the advantages of reliable function, good real-time performance, easiness in implementation, and capacity of coping with a plurality of types of dynamic unknown environments.

Description

technical field [0001] The invention relates to the technical field of obstacle avoidance for unmanned aerial vehicles, in particular to a three-dimensional path obstacle avoidance method for unmanned aerial vehicles based on probability density. Background technique [0002] During the flight of UAVs, it is difficult to completely predict the flight environment information. Due to the changeable and complex environment and the need to consider many factors, its planning and decision-making becomes very complicated. In the existing technology, conventional path planning often cannot meet the requirements of dynamic environment and real-time performance at the same time, and often encounters sudden threats or obstacles. At this time, the pre-planned global track path can no longer meet the requirements. In order to achieve the expected purpose, it is necessary to have the function of real-time detection and avoidance of obstacles, reliable function, good real-time performance...

AI Technical Summary

Problems solved by technology

[0002] During the flight of UAVs, it is difficult to completely predict the flight environment information. Due to the changeable and complex environment and the need to consider many factors, its planning and decision-making becomes very complicated.

In the existing technology, conventional path planning often cannot meet the requirements of dynamic environment and real-time performance at the same time, and often encounters sudden threats or obstacles. At this time, the pre-planned global track path can no longer meet the requirements

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