A Motion Planning Method for UAV Obstacle Avoidance in Cruising Missions

A motion planning, UAV 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 UAV obstacle avoidance methods, etc. The effect of planning speed and response speed

Active Publication Date: 2021-08-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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

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  • A Motion Planning Method for UAV Obstacle Avoidance in Cruising Missions
  • A Motion Planning Method for UAV Obstacle Avoidance in Cruising Missions
  • A Motion Planning Method for UAV Obstacle Avoidance in Cruising Missions

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[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 ...

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Abstract

The invention discloses a motion planning method for UAV obstacle avoidance under cruising missions; the method first performs grid modeling on the global environment, and constructs a risk evaluation function, and uses the improved A star algorithm to generate global track points, and in A In the star algorithm, the speed constraint and the maximum yaw rate constraint of the UAV are introduced, and the Durbin curve is used to smooth the discrete points. At the same time, for emergency sudden obstacles, the geometric position relationship and the Durbin curve are used for real-time obstacle avoidance. . The Markov decision model is used to model the control strategy of the UAV to determine the best maneuvering action to avoid obstacles. This method enables the UAV to quickly plan a safe track based on the position of known obstacles, and can respond to sudden obstacles, so that the UAV can make the best maneuvering actions to avoid collisions with obstacles .

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张乐袁锁中黄永康
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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