Unmanned aerial vehicle path planning method taking laser scanning as constraint

Abstract

The invention discloses an unmanned aerial vehicle path planning method taking laser scanning as a constraint. The method comprises the following steps: 1, setting a position of an unmanned aerial vehicle at a moment t to be (x(t),y(t),z(t)) and a speed of the unmanned aerial vehicle to be v(t), and establishing an expression for a flight d of the unmanned aerial vehicle and an expression for an unmanned aerial vehicle planning cost function; 2, defining a detection interval between two pole towers as a rectangular solid; 3, inputting starting point coordinates and end point coordinates duringunmanned aerial vehicle path planning, and performing path planning by using a fast search tree algorithm; and 4, outputting a planned path result. The method disclosed by the invention solves the effectiveness problem of the laser scanning of the unmanned aerial vehicle, the problem that a planned path can not achieve global optimum as a local path planning method is adopted in the unmanned aerial vehicle path planning and the problems that an algorithm is relatively complex and a global planning method is not applicable to a region lack of geographical environmental information as the global planning method needs detailed geographical environmental information support.

Description

technical field [0001] The invention belongs to the UAV path planning technology, in particular to a UAV path planning method constrained by laser scanning. Background technique [0002] Different UAV application platforms correspond to different path planning methods. The terrain of the mountainous environment is complex, and path planning needs to consider avoiding obstacles. The global planning method or the local planning method can be used. The local path planning method is suitable for the situation where the spatial information of the flight planning is insufficient and the global environment cannot be accurately modeled. The basic idea is to use local information to plan the next execution action to avoid risks such as collisions, but the planning path cannot reach the global optimum. The global planning method can avoid risks in advance and plan the optimal flight path, but it needs the support of detailed geographic environment information, so the algorithm is mo...

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a UAV path planning method constrained by laser scanning, so as to solve the problem that in the prior art for UAV path planning, the local path planning method is adopted, and the planned path cannot reach the global optimum. Excellent; the global planning method can avoid risks in advance and plan the optimal flight path, but it needs the support of detailed geographic environment information, so the algorithm is more complicated, and it is not suitable for problems such as areas lacking geographic environment information

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