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
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[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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