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

A technology of path planning and storage capacity, applied in navigation calculation tools, vehicle position/route/altitude control, instruments, etc., can solve the problems of insufficient obstacle avoidance ability and low data storage burden of UAVs

Active Publication Date: 2020-09-29
BEIHANG UNIV
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  • 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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  • A two-level path planning method for unmanned aerial vehicles with limited computing and storage capabilities
  • A two-level path planning method for unmanned aerial vehicles with limited computing and storage capabilities
  • A two-level path planning method for unmanned aerial vehicles with limited computing and storage capabilities

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Embodiment Construction

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

[0065] Such as figure 1 As shown, the present invention relates to a dual-layer path planning method with limited computing and storage capabilities for drones. The first step is to use the fish school algorithm to generate the initial reference track based on the existing map information and considering the limitations of the drone’s own dynamic performance; the second step is to use the airborne sensors to obtain environmental information such as the drone 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 Markov process to generate the local obstacle avoidance path , Fly according to the partially planned trajectory. If there is no threat, the UAV ...

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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 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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