Unmanned aerial vehicle path planning method and system, computer equipment and readable storage medium

Abstract

The invention provides an unmanned aerial vehicle path planning method and system, computer equipment and a readable storage medium. The method comprises the following steps of: obtaining a depth image in the preset space range of the current position of an unmanned aerial vehicle and the real-time flight attitude feature image vector of the unmanned aerial vehicle; extracting a feature image vector in the depth image through a target convolutional neural network model; carrying out fusion processing on the real-time flight attitude feature image vector and the feature image vector so as to obtain the fusion information of the unmanned aerial vehicle and an object contained in the depth image; inputting the fusion information into a target strategy network to obtain the target motion information of the unmanned aerial vehicle; and sending the target motion information to a flight control to realize the process of the path replanning of the unmanned aerial vehicle through the flight control. According to the method, the re-planned path information of the unmanned aerial vehicle for avoiding obstacles can be obtained at a time through the two-layer neural network model, so that the process of the re-planning the path of the unmanned aerial vehicle is realized, and the time of re-planning the path and the period of autonomous obstacle avoidance are shortened.

Description

technical field [0001] The present application relates to the field of UAV intelligence technology, in particular to a UAV path planning method, system, computer equipment and readable storage medium. Background technique [0002] Air flight target detection can identify, classify and locate air targets. It is a key factor to realize the intelligence of UAV systems. It can be applied to UAV obstacle avoidance, air early warning, air command, and dispatching systems. It has very important applications. value. Therefore, autonomous obstacle avoidance is a basic and key technology for UAVs in intelligent applications. Its main purpose is to enable UAVs to avoid obstacles such as houses, trees, and wires during flight Target area flight. [0003] In the traditional technology, the environment perception is carried out first, and then the obstacle avoidance path planning is carried out according to the created environment model. These two links realize the autonomous obstacle a...

AI Technical Summary

Problems solved by technology

[0004] However, the traditional technology needs to process the sampling data step by step, which leads to a long period for the automatic obstacle avoidance of the UAV.

Images