UAV track planning method based on particle swarm and prm algorithm

A track planning and unmanned aerial vehicle technology, which is applied in three-dimensional position/course control, instruments, control/regulation systems, etc., can solve the problems of increased calculation and path failure

Active Publication Date: 2021-11-09
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
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AI Technical Summary

Problems solved by technology

The traditional method has relatively good completeness, but when the environment is too complex, the amount of calculation will increase greatly, and the path may not be found

Method used

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  • UAV track planning method based on particle swarm and prm algorithm
  • UAV track planning method based on particle swarm and prm algorithm
  • UAV track planning method based on particle swarm and prm algorithm

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Embodiment Construction

[0028] The invention belongs to the field of intelligent optimization algorithms, and specifically relates to an unmanned aerial vehicle track planning algorithm based on particle swarm and PRM algorithms; The space planning problem is transformed into a topological space planning problem, thereby greatly reducing the complexity of the path planning problem; then in the topological space, the present invention uses the particle swarm algorithm to solve the problem, thereby obtaining a reasonable route planning scheme. Specific steps are as follows:

[0029] Step 1): Obtain the input starting position of the drone (x start ,y start ), task position (x end ,y end ) and the number of obstacles m, T={T 1 ,T 2 ,...,T m}, each obstacle T i specific shape and location information. Obstacles in the task scene will be abstracted into circles and polygons. For circular obstacles, the center and radius of the obstacle need to be input as [(x, y), r]. Enter the coordinates of ea...

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Abstract

The invention provides a UAV track planning method based on particle swarm and PRM in the field of UAVs, which randomly collects points in the flight space of UAVs, and according to obstacles such as no-fly zones and radar areas in the environment Object information uses the PRM method to construct a probability map, transforming the planning problem of continuous space into the planning problem of topological space. The distance from the source point to the target point is used as the optimization objective function, and the allocation scheme is encoded according to the characteristics of the UAV track planning model, and the particle swarm algorithm is used to solve the problem, and a shortest flight path is obtained in the probability map. By increasing the amount of sampling points near obstacles during the sampling process, the algorithm's path search in narrow channels is strengthened, making it more suitable for complex terrain.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle, specifically a method for planning a flight path of an unmanned aerial vehicle, and belongs to the field of intelligent optimization algorithms. Background technique [0002] With the development of computer technology, sensor technology, wireless communication technology and UAV technology, UAVs gradually have a high degree of autonomous control capabilities. Compared with manned aircraft driven by pilots, UAVs have many potential advantages. For example: UAVs that fly autonomously do not need to rest when the fuel is sufficient, and can cruise for a longer period of time; UAVs do not need to provide the necessary life support systems for pilots, which not only reduces flight costs, but also provides a better environment for deploying sensors. and other equipment provides more space. Multi-UAV cooperative operations can improve the combat effectiveness of UAVs, which has become the development tren...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张迎周高扬孙仪竺殊荣张灿
Owner NANJING UNIV OF POSTS & TELECOMM
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