Method for planning obstacle avoidance motion of UAV under cruise mission

A motion planning and unmanned aerial vehicle technology, applied in non-electric variable control, three-dimensional position/channel control, instruments, etc., can solve problems such as insufficient ability to deal with sudden obstacles, complex calculation of unmanned aerial vehicle obstacle avoidance methods, etc., to achieve improvement The effect of planning speed and fast response

Active Publication Date: 2019-10-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF16 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: In view of the shortcomings of the UAV obstacle avoidance method in the above-mentioned prior art, such as complex calculation and insufficient ability to deal with sudden obstacles, the present invention provides a motion planning method for UAV obstacle avoidance under cruise tasks

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for planning obstacle avoidance motion of UAV under cruise mission
  • Method for planning obstacle avoidance motion of UAV under cruise mission
  • Method for planning obstacle avoidance motion of UAV under cruise mission

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0043] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0044] This embodiment provides a motion planning method for unmanned aerial vehicle obstacle avoidance under the cruising task, the method is as attached figure 1 As shown, firstly, the task environment (the scope of the cruise task) is modeled, and the task environment is divided into units by using the grid method, and the length of the minimum turning radius of the UAV is selected twice as the grid size. On the one hand, this can Satisfying the kinematic constraints of the UAV, on the other hand, can make the generated path smoother and feasible.

[0045] On the basis of the digital map, the collision risk scoring is carried out for each divided grid, and ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for planning obstacle avoidance motion of a UAV under a cruise mission. The method comprises steps of performing rasterizing modeling on a global environment, establishing a risk evaluation function, producing global track points by using an improved A star algorithm, introducing UAV speed constraint and maximum yawing rate constraint in the A star algorithm, smoothing discrete points by using a Doberman curve, and for emergent obstacles, avoiding the obstacles in real time by using a geometric position relationship and the Doberman curve. In the method, control policies of the UAV are modelled by using a Markov decision model, so as to determine an optimal manoeuvre for avoiding the obstacle. Through adoption of the method, the UAV can rapidly figure out asafe track according to the position of the known obstacle, can respond to sudden barriers and perform the optimal manoeuvre, so as to avoid colliding with an obstacle.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle obstacle avoidance, and in particular relates to a motion planning method for unmanned aerial vehicle obstacle avoidance under cruise tasks. Background technique [0002] Recently, small fixed-wing UAVs have shown great potential in military and civilian fields, and are widely used in cruise surveillance and search. These tasks require fixed-wing UAVs to be able to autonomously plan obstacle-free collision paths in unfamiliar and unknown environments. , and can maximize the search cruise range. [0003] Traditional 3D path planning techniques such as fast-exploring random trees, visual map methods, and artificial potential field methods are computationally complex, and need to be recalculated when the environment around the UAV changes. Contents of the invention [0004] Purpose of the invention: In view of the shortcomings of the UAV obstacle avoidance method in the above-menti...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张乐袁锁中黄永康
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap