Unmanned aerial vehicle path planning method and device, storage medium and computer equipment

Abstract

Embodiments of the invention disclose an unmanned aerial vehicle path planning method and device, a storage medium and computer equipment. The method comprises the steps of: obtaining path planning information, wherein the path planning information comprises a target planning area, start point information and target point information, and the target planning area comprises a feasible area and an obstacle area; determining a first sampling point in the feasible area through a random uniform sampling manner, determining that the first sampling point does not collide with the obstacle area, calculating field intensity value corresponding to the first sampling point, determining that the field intensity value is greater than or equal to a preset field intensity threshold value, and adding thefirst sampling point to a vertex set; generating a corresponding edge set according to the vertex set and a preset planner; and searching an optimum path from the edge set to serve as a target path according to the start point information, the target point information and a preset path search algorithm. By adoption of the method, the correctness and efficiency of path planning can be improved.

Description

technical field [0001] The present invention relates to the field of unmanned aerial vehicle technology and the field of computer technology, in particular to a path planning method, device, storage medium and computer equipment for an unmanned aerial vehicle. Background technique [0002] With the development of computer technology, a new round of artificial intelligence revolution has been driven, and the intelligentization of UAVs has become a trend, and path planning is a key link in the autonomous flight of UAVs. Constrained flight paths enable the UAV to avoid collisions during flight and quickly reach the end point from the starting point. [0003] Unlike 2D path planning, the difficulty of UAV path planning in 3D environments grows exponentially with dynamic constraints, and the motion constraints become more complex. In related technical solutions, path planning methods for UAVs in 3D complex and changeable environments mostly use sampling-based path planning metho...

AI Technical Summary

Problems solved by technology

However, due to uniform sampling in the map, when there are narrow passages in the map, it often needs to construct more sampling points to complete the road map, which leads to an exponential increase in the amount of calculation

That is to say, in the existing route planning method for the determination of sampling points and route planning in narrow passages, in order to improve the accuracy and effectiveness of route planning in narrow passages, it is necessary to increase the number of sampling points, which leads to an excessive amount of calculation , Sampling point utilization rate is too low

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