Rapid three-dimensional track planning method of unmanned aerial vehicle taking into account complex environment constraints

Abstract

The invention discloses a rapid three-dimensional track planning method of an unmanned aerial vehicle taking into account complex environment constraints. The rapid three-dimensional track planning method of the unmanned aerial vehicle taking into account the complex environment constraints comprises the steps that firstly, a three-dimensional track planning environment model is constructed by analyzing various constraint information of typical complex environments such as topography, meteorology, no-fly zones and dangerous substances on an unmanned aerial vehicle track, and then a multilayerexpansion A* algorithm is designed to perform three-dimensional expansion according to the performance constraints and flight characteristics of the unmanned aerial vehicle so as to search and obtaina reference track of the unmanned aerial vehicle; and finally, the reference track is simplified and optimized in line simplification and line smoothing modes to obtain an optimal flight track for theunmanned aerial vehicle. The unmanned aerial vehicle track can be efficiently and accurately generated, threats can be safely avoided, and the speed and accuracy of track planning are increased.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle track planning, and in particular relates to the design of a fast three-dimensional track planning method for unmanned aerial vehicles taking into account complex environmental constraints. Background technique [0002] Due to the characteristics of convenient application, flexible maneuverability, and strong timeliness, UAV (Unmanned Aerial Vehicle, UAV) has developed rapidly in recent years and is widely used in aerial photography, agriculture, plant protection, disaster relief, surveillance, surveying and mapping, and news reports. , power inspection, film and television shooting and other fields. UAV trajectory planning refers to formulating the optimal flight path for UAVs from the initial position to the target position on the basis of considering terrain, weather, threats and other environmental factors as well as its own flight performance. UAV trajectory planning is the k...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the current UAV three-dimensional trajectory planning method lacks the consideration of the optimal path under the constraints of the complex environment, and cannot simultaneously consider the optimal trajectory planning of the complex environment constraints and the UAV’s own performance constraints. problem, a fast 3D trajectory planning method for UAVs considering complex environmental constraints is proposed

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