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Drone real-time path planning method based on improved RRT (Rapidly-exploring Random Tree)

A technology for real-time path planning and unmanned aerial vehicles, which is applied to navigation and calculation tools, etc., can solve the problems caused by restrictions, inconvenient operation, and increase the amount of calculation, and achieve the effect of reducing the scope and the amount of calculation.

Active Publication Date: 2019-03-26
智灵飞(北京)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (1) Algorithms in the prior art are only applicable to global planning, resulting in restrictions, inconvenient operation, and reduced use efficiency
[0007] (2) In the existing technology, random exploration of the entire space is required, the scope of random exploration is large, and the amount of calculation increases, so online planning cannot be effectively realized
Therefore, it is impossible to obtain a global map in advance, and thus cannot perform global path planning
This makes the global planning method limited in application

Method used

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  • Drone real-time path planning method based on improved RRT (Rapidly-exploring Random Tree)
  • Drone real-time path planning method based on improved RRT (Rapidly-exploring Random Tree)
  • Drone real-time path planning method based on improved RRT (Rapidly-exploring Random Tree)

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Experimental program
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Effect test

Embodiment 1

[0092] 1. Build a partial scrolling window

[0093] The local environmental information is obtained through the sensors carried by the UAV, and the planning window is driven in a periodic form. The window area of ​​each planning is defined as Win(q_R(t))={p|p∈C,d(q, q_R(t))≤R}, q_R(t) represents the center of the rolling window, R is the radius of the rolling window, generally the detection radius of the sensor. The aforementioned window is also referred to as the field of view of the drone.

[0094] Since the drone is in the process of real-time route planning and autonomous navigation, it is best to maintain a certain speed and fly continuously without stopping to wait for the next window planning to generate a path before proceeding. Therefore, in order to fly continuously, it is necessary to plan the next window in advance before reaching the local sub-target point, and take the current planned target point as the center of the next planning window. That is, after the ne...

Embodiment 2

[0114] The general flow of the rolling RRT algorithm provided by the embodiment of the present invention is as follows:

[0115] (1) initialize the variables of the RRT tree in the rolling window;

[0116] (2) judge whether it is located in the rolling window, if it is then go to step 3, not go to step 4;

[0117] (3) As the target point, randomly generate nodes on the boundary

[0118] (4) Obtain local sub-target points on the rolling window boundary, and generate random nodes on the boundary;

[0119] (5) Select the nearest tree node in the current tree species, and generate nodes according to a certain step size;

[0120] (6) Collision detection is performed on the connection line;

[0121] (7) Judging whether it is in the flyable zone and there is no obstacle distribution on the connection line, if not satisfied, return to step 2, and if satisfied, go to step 6;

[0122] (8) will join the tree list, judge to arrive, if not then go to step 9; Yes then end the algorithm;...

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Abstract

The invention belongs to the technical field of drone operation and discloses a drone real-time path planning method based on an improved RRT (Rapidly-exploring Random Tree). The drone real-time pathplanning method comprises the following steps: constructing a local rolling window; setting local sub-goal points; carrying out random sampling and planning by adopting a local RRT algorithm; and carrying out an algorithm termination principle. According to the drone real-time path planning method, an original algorithm, which is only applicable to global planning, is improved and fused; the window is constructed according to local known environment information; and the sub-goal points are determined through a certain method and a global planning algorithm is used for exploring in the environment. In a process of rolling and frontward moving the window, the environment information in the window is continuously updated and planning mapping and feedback are realized; finally, a goal point isrealized. With regard to the RRT algorithm, the improvement method based on the rolling window does not need to carry out random exploring on a whole space when being compared with global planning; however, planning is limited in numerous windows which are continuously updated; a random exploring range is reduced and the calculation amount is reduced; and online planning can be realized.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an improved RRT-based real-time path planning method for unmanned aerial vehicles. Background technique [0002] At present, the existing technology commonly used in the industry is as follows: the rapid expansion random tree (RRT) path planning method has many advantages such as strong adaptability, fast generation speed, and complete probability, but it must rely on the known global map to perform planning. Therefore, generally speaking, RRT is a global planning method, which cannot realize real-time route generation of UAVs. However, with the widespread application of UAVs, it is not enough to only consider global static obstacles in the indoor task environment. There are uncertain and dynamic obstacles in the indoor environment, and corresponding obstacle avoidance strategies should also be studied. Local planning is to collect local information...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李璟璐丁久辉
Owner 智灵飞(北京)科技有限公司
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