Unlock instant, AI-driven research and patent intelligence for your innovation.

Unmanned aerial vehicle route planning method based on spatial geometrical characteristics

A track planning and geometric feature technology, applied in three-dimensional position/course control, non-electric variable control, instruments, etc., can solve problems such as difficult to accurately give the optimal track planning route

Active Publication Date: 2019-10-18
DONGHUA UNIV
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Based on machine learning, reinforcement learning and other related algorithm models, it is difficult to accurately give the optimal trajectory planning route when the flight data attributes of UAVs are limited or some behavior attributes are missing.

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
  • Unmanned aerial vehicle route planning method based on spatial geometrical characteristics
  • Unmanned aerial vehicle route planning method based on spatial geometrical characteristics
  • Unmanned aerial vehicle route planning method based on spatial geometrical characteristics

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] For a UAV, when it is assumed that its limited flight height is a fixed height, we can map the planning space to a two-dimensional space, such as image 3 shown. exist image 3 Among them, according to the algorithm provided by the present invention, first of all, we can easily imagine that the starting coordinates of the drone (x 1 ,y 1 ) changes to (0,0), and the coordinates of the end point change to (x m ,y m ), then the equation of the straight line connecting the start point to the end point is: y m x-x m y=0. Suppose (x m ,y m )=(5,6), the coordinates of the center of the threat area 1 are The coordinates of the center of the threat area 2 are And the radius of the threat area circle is r 1 = r 2 =2, then the straight line equation from the starting point to the end point is: 6x-5y=0. The distance from point (2,8) to line: 6x-5y=0 is: Similarly, the distance from point (4,4) to line: 6x-5y=0 is: Then according to Algorithm 1, the optimal path i...

Embodiment 2

[0049] For a UAV, when it is assumed that its limited flight height is a fixed height, we can map the planning space to a two-dimensional space, such as Figure 4 shown. exist Figure 4 Among them, according to the algorithm provided by the present invention, first of all, we can easily imagine that the starting coordinates of the drone (x 1 ,y 1 ) changes to (0,0), and the coordinates of the end point change to (x m ,y m ), then the equation of the straight line connecting the start point to the end point is: y m x-x m y=0. Suppose (x m ,y m )=(5,5), the coordinates of the center of the threat area 1 are The coordinates of the center of the threat area 2 are And the radius of the threat area circle is r 1 = r 2 =1, then the equation of the straight line from the start point to the end point is: x-y=0. The distance from the point (3.414,2)) to the line: x-y=0 is: Similarly, the distance from the point (2,3.414) to the line: x-y=0 is: Then according to Algori...

Embodiment 3

[0051] For a UAV, when it is assumed that its flight height is not fixed, its planning space is a 3-dimensional space, such as Figure 5 shown. exist Figure 5 Among them, according to the algorithm provided by the present invention, first of all, we can easily imagine that the starting coordinates of the drone (x 1 ,y 1 ,z 1 ) changes to (0,0,0), and the coordinates of the end point change to (x m ,y m ,z m ). Suppose (x m ,y m ,z m )=(5,5,5), r 1 = 2 =1. From the points (2.5,0.5,1) and (0.5,2.5,2) to the connection (x 1 ,y 1 ,z 1 ) and (x m ,y m ,z m ) distances of the straight lines are greater than 1, then the optimal path is the straight line from the starting point to the end point of the UAV, such as Figure 5 shown in the straight line. Similarly, for a threat area in three-dimensional space that covers a straight line from the starting point to the focal point, its optimal path calculation method can be imitated as shown in Embodiment 2.

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 relates to an unmanned aerial vehicle route planning method based on spatial geometrical characteristics, and the method comprises the steps: firstly analyzing flight conditions and a flight environment of an unmanned aerial vehicle through the analysis of behavior data of the unmanned aerial vehicle, and obtaining a planning space of the unmanned aerial vehicle; then, through describing constraint conditions of unmanned aerial vehicle behaviors to determine a flight limitation function of the unmanned aerial vehicle, giving an optimal target function according to corresponding environmental constraints and flight limitation of the unmanned aerial vehicle, and the finding the optimal route of the unmanned aerial vehicle through the spatial geometrical characteristics. The method is characterized in that the flight limitation and environmental constraint conditions of the unmanned aerial vehicle are utilized to formalize the flight route planning problem of the unmanned aerial vehicle into spatial geometrical characteristics; the optimal route planning method of the unmanned aerial vehicle can be provided by utilizing spatial geometrical characteristic calculation of the unmanned aerial vehicle under different flight limitation and environment constraint conditions.

Description

technical field [0001] The invention relates to a method for planning a flight path of an unmanned aerial vehicle. Background technique [0002] With the development of drone technology, more and more drones are used to replace pilots to perform some high-risk tasks in many fields, such as: search and rescue, disaster monitoring, etc. A perfect mission planning system is an important guarantee for UAVs to successfully complete their missions, and track planning is the core part of the mission planning system. UAV trajectory planning requires the UAV to plan the optimal or most satisfactory flight path. Therefore, the problem of UAV trajectory planning is an important means to improve the safety performance of UAVs and ensure the UAVs to complete their missions well. [0003] The existing UAV trajectory planning technology mainly adopts optimization algorithm and machine learning technology. The technology using the optimization algorithm mainly collects three-dimensional ...

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 赵培海王咪咪
Owner DONGHUA UNIV