An energy-saving path optimization method for a rotary-wing UAV with a curved line path
A polyline path and path optimization technology, applied in data processing applications, forecasting, calculations, etc., can solve the problem of high energy consumption during drone flight, and achieve the effects of increasing battery life, improving energy efficiency, and reducing energy consumption
Active Publication Date: 2020-12-29
NORTHWEST UNIV
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Problems solved by technology
[0005] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide an energy-saving path optimization method for rotor UAVs with arc-shaped broken-line paths, so as to solve the problem of excessive energy consumption when UAVs fly in the broken-line paths in the prior art. big technical problem
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[0037] This embodiment provides a method for optimizing the energy-saving path of a rotor UAV with a curved path, including the following steps:
[0038] Step 1, set the path point set P={p in the polyline path of the UAV i |i=1,2,...,n} the first path point p 1 and the second waypoint p 2 Put it into the arc path L; the path point set P is an ordered set, and an element p is added at the end of the path point set P n+1 , element p n+1 value and p 1 same;
[0039] In the application of the rotor drone, the rotor drone completes the flight according to the preset GPS coordinate sequence. Since the positioning accuracy of civilian GPS is greater than 1 meter in a good environment, when the distance between coordinate points is less than 1 meter, the drone will "shake" back and forth in place. Therefore, in practical applications, the distance between two points in the flight path point sequence set for the UAV should not be less than 1 meter. That is to say, the path of t...
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The invention discloses a method for optimizing an energy-saving path of a rotor UAV with an arc of a broken line path. The method converts the broken line path into an arc path so that the energy consumption of the rotor UAV flying over the path is less, and further optimization The results of polyline energy-saving path planning for existing rotor UAVs. Increase the endurance of the rotor drone and improve the energy limitation of the rotor drone in the application. The method proposed by the present invention to further optimize the broken line energy-saving path of the rotor UAV by converting the broken line path into an arc path can be applied in the application of the rotor UAV to assist in traversing task points, and can reduce the flight energy. Consumption, the effect of increasing the task completion amount of a single charge.
Description
technical field [0001] The invention belongs to the technical field of energy-saving applications of unmanned aerial vehicles, and relates to an energy-saving path optimization method for a rotor unmanned aerial vehicle with a broken-line path and an arc. Background technique [0002] Path planning is the main means to reduce flight energy consumption in rotary wing UAV applications. An effective energy-saving path optimization method can further enhance the endurance of the rotor UAV, improve the application effect of the rotor UAV, and expand its application space. [0003] In route planning, which characteristics of the route are selected as the planning basis has a decisive impact on the planning results. Existing research on the use of path planning to optimize the flight energy consumption of rotor UAVs often uses the straight-line distance between flight access nodes (or waypoints) as the planning basis, and takes the total flight distance as the optimization goal. ...
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IPC IPC(8): G01C21/20G06Q10/04
CPCG01C21/20G06Q10/047
Inventor 王安文姬翔刘宝英陈晓江房鼎益华庆一陈峰
Owner NORTHWEST UNIV