A two-level path planning method for unmanned aerial vehicles with limited computing and storage capabilities

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 aiming at the limited computing and storage capabilities of the drone, which is applied to the safe and fast obstacle avoidance of the drone, and can also be extended to the autonomous obstacle avoidance of unmanned vehicles and unmanned aerial vehicles. Background technique

[0002] A drone is a vehicle that does not require a pilot, and can usually be controlled by remote control and automatic driving. Compared with manned aircraft, drones have significant advantages in cost, flexibility, and teamwork. In recent years, UAVs 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 appeared in news reports. In April 2017 alone, there were 13 reports of drones interfering with flight operations in Hangzhou ...

Images