Object tracking-based obstacle avoidance method, device and UAV for UAV

Abstract

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. Among them, the UAV obstacle avoidance method based on target tracking includes: determining the expected forward speed of the UAV, which is used to maintain the initial horizontal distance between the UAV and the target; obtaining the depth map of the environment in front of the UAV , and according to the depth map, determine the grid map centered on the drone; according to the grid map, determine the optimal flight direction of the drone and the minimum distance between the drone and obstacles; according to the minimum distance, the expected forward direction The speed and the optimal flight direction determine the optimal flight speed of the UAV; control the UAV to fly along the optimal flight direction at the optimal flight speed to avoid obstacles in the environment in front of the UAV. Through the above method, the embodiments of the present invention can perform path planning for the entire flight space, and improve the accuracy of autonomous obstacle avoidance in the process of target tracking.

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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