Control method and system for flight path of unmanned aerial vehicle, electronic equipment and medium

Abstract

The invention provides a control method for a flight path of an unmanned aerial vehicle. The method comprises the steps that the unmanned aerial vehicle is controlled to begin to fly from a starting point of the flight path, wherein multiple target points are arranged between the starting point and ending point of the flight path; a current position, current heading direction and current pre-arriving target point of the unmanned aerial vehicle are acquired; it is judged whether or not the included angle between the current heading direction and the current pre-arriving target point direction and the included angle between the current position and the current pre-arriving target point direction are in a preset range, if not, a linear velocity of the unmanned aerial vehicle is reduced, if yes, the distance between the current position and the pre-arriving target point is compared with the distance between the current position and other target points behind the current position, and according to the comparison result, a current actually arriving target point of the unmanned aerial vehicle is selected; the judgment is repeated until the unmanned aerial vehicle arrives at the ending point. The invention further provides a control device for the flight path of the unmanned aerial vehicle, electronic equipment and a readable storage medium.

Description

technical field [0001] The present disclosure relates to the field of intelligent control, and in particular to a control method, system, electronic equipment and media for the flight path of a drone. Background technique [0002] The problem of UAV adaptive navigation has always been the direction pursued by researchers. From the initial manual control of drones to today's various autonomous navigation algorithms, engineers have been looking for the best autonomous path planning solution for drones. As long as there is a robust autonomous path planning scheme, it can reach the target point in some unknown terrain without manual intervention, so as to complete tasks such as rescue and supply. [0003] Among the existing path planning schemes, the combination of A* and DWA algorithm is the most mature scheme. The basic idea is to obtain an approximate optimal route through the global planning algorithm through the known large-scale terrain distribution information. Then, d...

AI Technical Summary

Problems solved by technology

[0004] However, in practice, due to the large-scale nature of the global path planning, the UAV will turn too large at some corner positions, which will cause the UAV to seriously deviate from the predetermined track or even fail to reach the target point. This is due to the global The actual dynamic characteristics of the UAV are not considered in the path planning, only a simple path planning is made

Therefore, the actual UAV cannot achieve the ideal path and will deviate from the planned path

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