Greedy strategy based flight path planning method for unmanned aerial vehicle

A technology for unmanned aerial vehicles and track planning, applied in the field of navigation calculations, can solve problems such as the limitation of the turning radius of the aircraft, the failure of calibration points, etc., and achieve the effect of speeding up planning and reducing complexity

Active Publication Date: 2020-01-07
CHONGQING UNIV
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Problems solved by technology

[0008] (4) The turning radius of the aircraft will be limited
[0009] (5) Due to uncontrollable fac

Method used

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  • Greedy strategy based flight path planning method for unmanned aerial vehicle
  • Greedy strategy based flight path planning method for unmanned aerial vehicle
  • Greedy strategy based flight path planning method for unmanned aerial vehicle

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Embodiment Construction

[0056] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0057] The track planning method of the unmanned aerial vehicle based on the greedy strategy in the present embodiment comprises the following steps: as attached figure 1 And attached figure 2 Shown:

[0058] S1: Obtain the original data set, and preprocess the original data set to obtain the dimensionality reduction data set, the starting point A, the first destination point B, and the horizontal measure d. The preprocessing includes data set visualization and data dimensionality reduction processing;

[0059] S2: Starting from the starting point A, sequentially follow the spatial point set X={x sorted by the horizontal measure d 1 ,x 2 ,...,x t ,x t+1 ,...,x n}X={x 1 , x 2 ,...,x t , x t+1 ,...,x n} to...

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Abstract

The invention relates to a greedy strategy based flight path planning method for an unmanned aerial vehicle, and in particular to the field of navigation calculation. The method comprises the following steps: S1, acquiring an original data set, and preprocessing the original data set by data set visualization and data dimensionality reduction to obtain a dimensionality reduction data set, a starting point A, a first destination point B and a level metric d; S2, starting from the starting point A, traversing sequentially along a spatial point set X = {x1, x2,..., xt, xt+1,..., xn} sorted by the levelness d; and S3, finding the farthest point xt which can be accessed by the starting point A, and sequentially constructing a set X'= {x1, x2,..., xt} that the starting point A can access the correction point under the condition that the constraint condition is met. According to the scheme, the technical problem of how to quickly plan the flight path under the constraint of system positioning accuracy is solved, and the method is suitable for flight path planning of aircrafts.

Description

technical field [0001] The invention relates to the field of navigation calculations, in particular to a greedy strategy-based track planning method for unmanned aerial vehicles. Background technique [0002] Rapid trajectory planning in complex environments is an important issue in the control of unmanned aerial vehicles. Due to the limitations of the system structure, the positioning system of this type of aircraft cannot accurately position itself. Once the positioning error accumulates to a certain extent, the mission may fail. Therefore, correcting positioning errors during flight is an important task in UAV trajectory planning. [0003] In addition, in today's era of informatization, networking, and intelligence, the application fields of unmanned intelligent aerial vehicles are becoming more and more extensive. have very important applications. Therefore, it is very important to plan the flight path of the unmanned intelligent aerial vehicle (even the manned intell...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101G05D1/0088
Inventor 朱晓红陈俊宇龚路靳紫薇
Owner CHONGQING UNIV
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