Fast real-time obstacle avoidance path selection method for multi-rotor UAV in complex environment

Abstract

The present invention relates to a fast real-time obstacle avoidance path selection method for a multi-rotor UAV in a complex environment. The method comprises the following steps: 1. Establishing a local three-dimensional map around the flight position of the multi-rotor UAV; 3. Establish a set of order and rules for local library path traversal selection under different circumstances, and make different path planning according to the current flight status of the UAV; 4. According to the given local 3D map, Combined with the path selection method proposed above, path planning is carried out until the end of the flight. The obstacle avoidance strategy proposed by the invention has high real-time performance and strong engineering realization. It realizes that the UAV bypasses obstacles and reaches its destination safely and quickly.

Description

Technical field [0001] The present invention belongs to the technical field for Path planning and obstacle avoidance path selection relates, in particular a multi-rotor UAV fast real-time in the complex environment of the collision avoidance path selection method. Background technique [0002] Multi-rotor UAV can achieve site-hover, take off and land vertically, etc., flight flexibility, control, and anti-jamming capability, attracted widespread attention in recent years researchers to obtain in terms of logistics, resource exploration, aerial photography and scientific research more and more applications. [0003] Path planning of UAV UAV autonomous flight is one of the core technology, it needs to consider navigation accuracy, maneuverability, environmental constraints, energy consumption, a variety of factors such as time of flight and the threat of an obstacle for the UAV planning out from the starting point to a destination point of collision-free route optimization. [0004...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing UAV path selection methods have the disadvantages of long path planning time and slow UAV flight speed due to the large amount of calculation, or offline path planning based on the established global map, so it is necessary to The planning algorithm is improved so that the drone can quickly plan a path that the drone can execute online in real time to improve the performance of the drone's autonomous obstacle avoidance flight

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