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Double-layer path planning method for overcoming limitations ofcalculation and storage capacity of UAV (unmanned aerial vehicle)

A technology of path planning and storage capability, applied in navigation calculation tools, vehicle position/route/altitude control, non-electric variable control and other directions, which can solve the problems of small data storage burden and insufficient obstacle avoidance ability of UAVs

Active Publication Date: 2019-11-15
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical solution problem of the present invention is: aiming at the dynamics and uncertainty of the flight environment of the UAV and the limited computer data storage capacity of the existing method, which leads to the insufficient obstacle avoidance ability of the UAV, it provides a method for UAVs. The two-layer path planning method with limited computing and storage capacity has the advantages of fast convergence speed, small data storage burden, and high security. It can be used for safe and fast obstacle avoidance of UAVs, and can also be extended to unmanned vehicles and unmanned aerial vehicles. autonomous obstacle avoidance

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  • Double-layer path planning method for overcoming limitations ofcalculation and storage capacity of UAV (unmanned aerial vehicle)
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  • Double-layer path planning method for overcoming limitations ofcalculation and storage capacity of UAV (unmanned aerial vehicle)

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Embodiment Construction

[0064] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0065] like figure 1 As shown, the present invention relates to a two-layer path planning method for UAVs with limited computing and storage capabilities. The first step is to use the fish swarm algorithm to generate an initial reference track based on the existing map information and considering the limitations of the UAV’s own dynamic performance; the second step is to use the airborne sensors to obtain environmental information such as the UAV and surrounding obstacles, And use the three-dimensional collision cone technology to judge whether the obstacle poses a threat to the UAV; the third step, according to the judgment in the second step, if there is a threat, use the forward search method based on the Markov process to generate a local obstacle avoidance path , fly according to the local planning track, if there is no threat, the UAV c...

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Abstract

The invention relates to a double-layer path planning method for overcoming limitations ofcalculation and storage capacity of a UAV (unmanned aerial vehicle). For overcoming limitations of the calculation and storage capacity of the UAV, the method comprises the following steps: firstly, an initial reference track isgenerated on the basis of existing map information and limitations of dynamic performance of the UAV; secondly, environmental information of theUAV and surrounding obstaclesis acquired by an airborne sensor, and whether obstacles pose a threat to the UAVis judged with a three-dimensional collision cone technology; thirdly, a local obstacle avoidance path is generated with a forward search method based on Markov process in case of the threat, and the UAV flies in accordance withthe local planned path, otherwise, theUAVcontinues to fly along the reference path; fourthly,the UAV continues to fly untilthe desired point of the reference track is reached after obstacle avoidance. The method has the advantages of high convergence speed, low data storage burden, high safety and the like, can be used by the UAV for avoiding obstacles safely and rapidly, and can also be popularized to autonomous obstacle avoidance of unmanned vehicles and the UAV.

Description

technical field [0001] The invention relates to a double-layer path planning method aimed at the limited computing and storage capabilities of unmanned aerial vehicles, which is applied to safe and fast obstacle avoidance of unmanned aerial vehicles, and can also be extended to autonomous obstacle avoidance of unmanned vehicles and unmanned aerial vehicles. Background technique [0002] A drone is a pilotless vehicle that is usually controlled by remote control and autopilot. Compared with manned aircraft, drones have significant advantages in cost, flexibility, and teamwork. In recent years, drones have been widely used in military and civilian fields, including border patrols, long-range strikes, power inspections, and aerial photography. At the same time, many negative incidents, including the "black flight" of drones, and crashes frequently appear in news reports. In April 2017 alone, there were 13 reports of drones interfering with flight operations in Hangzhou and Sh...

Claims

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Application Information

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IPC IPC(8): G05D1/10G01C21/20
CPCG01C21/20G05D1/101
Inventor 余翔李振兴乔建忠郭雷
Owner BEIHANG UNIV
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