Target tracking based unmanned aerial vehicle obstacle avoidance method and device, and unmanned aerial vehicle

Abstract

Embodiments of the invention relate to the technical field of autonomous obstacle avoidance of unmanned aerial vehicles, and especially relate to a target tracking based unmanned aerial vehicle obstacle avoidance method and device, and an unmanned aerial vehicle. The method includes determining the expected forward speed of the unmanned aerial vehicle, wherein the expected forward speed is used for maintaining an initial horizontal distance between the unmanned aerial vehicle and a target; obtaining the depth map of an environment in front of the unmanned aerial vehicle, and determining a grid map which takes the unmanned aerial vehicle as a center according to the depth map; determining the optimal flight direction of the unmanned aerial vehicle and the minimum distance between the unmanned aerial vehicle and an obstacle according to the grid map; determining the optimal flight speed of the unmanned aerial vehicle according to the minimum distance, the expected forward speed and the optimal flight direction; and controlling the unmanned aerial vehicle to fly in the optimal flight direction with the optimal flight speed so as to avoid the obstacle of the environment in front of the unmanned aerial vehicle. Through the method, path planning can be performed on the whole flight space through the embodiments, and the accuracy of autonomous obstacle avoidance during target tracking can be enhanced.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of autonomous obstacle avoidance of unmanned aerial vehicles, in particular to a method and device for obstacle avoidance of unmanned aerial vehicles based on target tracking, and an unmanned aerial vehicle. Background technique [0002] A drone is an unmanned aerial vehicle operated by a radio remote control device or its own program control device. With the development of UAV-related technologies and complex changes in application scenarios, the requirements for UAV automatic perception capabilities and path planning algorithms are getting higher and higher, especially in the autonomous obstacle avoidance technology of UAVs. By sensing its own motion state and the surrounding environment, combined with path planning algorithms, the aircraft can fly safely and without collision in an environment with obstacles, and avoid collisions with obstacles. [0003] At present, when the UAV per...

AI Technical Summary

Problems solved by technology

[0003] At present, when the UAV performs autonomous obstacle avoidance based on target tracking, it mainly flies through the flight trajectory set in the trajectory library and the flight speed at each moment set on the flight trajectory, but the flight trajectory set in this way The entire flight space cannot be covered, so that the UAV cannot perform path planning for areas outside the flight trajectory. If there are dynamic changes in the flight space, the UAV cannot perform accurate obstacle avoidance

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