A method of trajectory planning for unmanned aerial vehicle based on greedy strategy
A technology for unmanned aerial vehicles and track planning, which is applied in the field of navigation calculations and can solve problems such as failure of calibration points and limitation of the turning radius of aircraft
Active Publication Date: 2022-07-12
CHONGQING UNIV
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[0008] (4) The turning radius of the aircraft will be limited
[0009] (5) Due to uncontrollable factors such as weather, the calibration points used by the aircraft during flight may become invalid
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[0056] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.
[0057] The method for planning a trajectory of an unmanned aerial vehicle based on a greedy strategy in this embodiment includes the following steps: figure 1 and attached figure 2 shown:
[0058] S1: Obtain the original data set, and preprocess the original data set to obtain a dimensionality reduction data set, a starting point A, a first destination point B, and a level measure d. The preprocessing includes data set visualization and data dimensionality reduction processing;
[0059] S2: Starting from the starting point A, follow the spatial point set X={x sorted by the horizontal metric d in turn 1 ,x 2 ,…,x t ,x t+1 ,…,x n }X={x 1 , x 2 ,...,x t , x t+1 ,...,x n } to traverse;
[0060] S3: Find the farthest point x tha...
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The invention relates to a track planning method for an unmanned aerial vehicle based on a greedy strategy, in particular to the field of navigation calculation. It includes the following steps: S1: Acquire an original data set, and perform preprocessing on the original data set to obtain a dimensionality reduction data set, a starting point A, a first destination point B and a level measure d, and the preprocessing includes data set visualization and data. Dimensionality reduction processing; S2: Starting from the starting point A, follow the spatial point set X={x sorted by the horizontal metric d in turn 1 ,x 2 ,…,x t ,x t+1 ,…,x n }X={x 1 , x 2 ,...,x t , x t+1 ,...,x n } to traverse; S3: find the farthest point x that the starting point A can visit t , and sequentially construct a set X'={x where the starting point A can access the correction points under the constraint conditions 1 ,x 2 ,…,x t }. This solution solves the technical problem of how to quickly plan the track under the limitation of system positioning accuracy, and is suitable for aircraft track planning.
Description
technical field [0001] The invention relates to the field of navigation computing, in particular to a greedy strategy-based trajectory planning method for an unmanned aerial vehicle. Background technique [0002] Rapid trajectory planning in complex environments is an important subject for unmanned aerial vehicle control. Due to the limitation 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 the positioning error during flight is an important task in UAV trajectory planning. [0003] In addition, in today's era of informationization, networking, and intelligence, the application fields of unmanned aerial vehicles are becoming more and more extensive. They are used in agricultural farming, disaster relief, urban management, geological exploration, video shooting, unmanned warfare and other fields. have very import...
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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