Intelligent unmanned aerial vehicle track rapid planning method under multi-constraint condition

Abstract

The invention discloses an intelligent unmanned aerial vehicle track rapid planning method under multi-constraint condition, and belongs to the field of intelligent aircraft control. Firstly, the safeposition in a flight area is found before track planning according to the terrain, and the coordinates and the type of a correction point capable of positioning error correction are determined; secondly, the constraint conditions are determined according to the target, namely the flight error increment constraint, the vertical error correction constraint and the horizontal error correction constraint, and according to the planned track flight constraint and the minimum turn radius constraint, the interaction mechanism of the constraints is analyzed, and next, an aircraft track planning modelis established by taking the shortest task completion time and lowest energy consumption as far as possible as the target; and an improved Dijkstra algorithm based on the steepest descent is designedfor solving, and finally the track planning path meeting the multi-constraint condition is determined. The relatively optimal track meeting the multi-constraint condition can be quickly planned, and the method is relatively high in effectiveness and robustness; and the flight time is less, and the energy consumption is low.

Description

technical field [0001] The invention belongs to the field of intelligent unmanned aerial vehicle control, and in particular relates to a method for fast planning of intelligent unmanned aerial vehicle track under multiple constraint conditions. Background technique [0002] With the continuous development of artificial intelligence and unmanned aerial vehicle technology, the deep integration between the two will have an impact that cannot be underestimated on the development of my country's general aviation industry. Among them, the rapid trajectory planning in complex environments is one of the important problems to be solved in the control of intelligent unmanned aerial vehicles. Moreover, during the flight, this type of aircraft needs to correct the positioning error to achieve precise positioning, so as to avoid the accumulation of positioning errors to a certain extent and cause the mission to fail. [0003] At present, the UAV trajectory planning algorithms mainly inc...

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Problems solved by technology

[0012] In view of the above-mentioned deficiencies, starting from the demand for rapid planning of intelligent unmanned aerial vehicles in complex environments, the present invention proposes a method for rapid planning of intelligent unmanned aerial vehicles under multi-constraint conditions

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