A UAV track planning method based on spatial geometric features
A technology of track planning and geometric features, which is applied in three-dimensional position/channel control, instruments, control/regulation systems, etc., and can solve problems such as difficulty in accurately giving optimal track planning routes
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Embodiment 1
[0047] For a drone, when it is assumed that it is defined to limit the flying height, we can map the planned space to two-dimensional space, such as image 3 Indicated. exist image 3 In accordance with the algorithm provided by the present invention, we will easily think of the starting coordinate of the drone (X "by translation of the coordinate system. 1 Y 1 ) Changes to (0, 0), change the end coordinates to (X m Y m ), Then the line equation of the connection starting to the end point is: Y m X-X m y = 0. Hypothesis m Y m ) = (5, 6), the center coordinate of the threat area 1 is The center coordinate of the threat area 2 is And the radius of the threat area is R 1 = R 2 = 2, then from the start-up to the end point of the line equation is: 6x-5y = 0. Point (2, 8) to line: 6x-5y = 0 distance is: Similarly, points (4, 4) to line: 6x-5y = 0 distance is: Then according to the algorithm 1, the optimal path is the straight line from the starting point from the drone, such as image ...
Embodiment 2
[0049] For a drone, when it is assumed that it is defined to limit the flying height, we can map the planned space to two-dimensional space, such as Figure 4 Indicated. exist Figure 4 In accordance with the algorithm provided by the present invention, we will easily think of the starting coordinate of the drone (X "by translation of the coordinate system. 1 Y 1 ) Changes to (0, 0), change the end coordinates to (X m Y m ), Then the line equation of the connection starting to the end point is: Y m X-X m y = 0. Hypothesis m Y m ) = (5, 5), the center coordinate of the threat area 1 is The center coordinate of the threat area 2 is And the radius of the threat area is R 1 = R 2 = 1, then the straight line equation from the starting point to the end point is: x-y = 0. Point (3.414, 2)) to the straight line: X-Y = 0 distance is: Similarly, points (2, 3.414) to the line: X-Y = 0 distance is: So according to algorithm 1, we calculate from (0, 0) and (5, 5) to threat area 1 (in For th...
Embodiment 3
[0051] For a drone, when it is assumed that its flight height is not fixed, its planned space is 3-dimensional space, such as Figure 5 Indicated. exist Figure 5 In accordance with the algorithm provided by the present invention, we will easily think of the starting coordinate of the drone (X "by translation of the coordinate system. 1 Y 1 ,z 1 ) Changed to (0, 0, 0), the end point coordinate changes to (X m Y m ,z m . Hypothesis m Y m ,z m ) = (5, 5, 5), rim 1 = 2 = 1. From point (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 The distance between the straight line is greater than 1, then the optimal path is the straight line from the start of the drone to the end, such as Figure 5 The middle line is shown. Similarly, the threat area in the three-dimensional space covers a straight line from the starting point to the focus, and its optimal path calculation method can be patterned in Example 2.
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