Global path planning method of unmanned aerial vehicle moving platform in multi-domain terrain environment

A global path planning and platform technology, applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as not overcoming terrain obstacles

Active Publication Date: 2020-05-19
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

However, this method collects multiple sets of terrain data and formulates an optimized path, and does not overcome these terrain obstacles.

Method used

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  • Global path planning method of unmanned aerial vehicle moving platform in multi-domain terrain environment
  • Global path planning method of unmanned aerial vehicle moving platform in multi-domain terrain environment
  • Global path planning method of unmanned aerial vehicle moving platform in multi-domain terrain environment

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Embodiment Construction

[0023] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] The unmanned mobile platform in the embodiment is a hexapod-type unmanned vehicle, which includes a car body and six foot-track walking mechanisms. Tracked vehicle structure.

[0025] Such as figure 1 As shown, the global path planning method of the unmanned mobile platform in the multi-domain terrain environment of the present invention, the method is carried out as follows:

[0026] S1. The cost of designing an unmanned mobile platform to pass through various terrains J i , where the terrain includes paved roads, soft roads, wading roads, ramps, ditches, and cliffs, and the design cost J i Including: the cost of driving on paved roads J 1 , The cost of driving on soft road J 2 , The cost of driving on wading roads J 3 , The cost of driving uphill J 4 , the cost of driving downhill J 5 , The cost of crossing the trench J 6 , T...

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Abstract

The invention provides a global path planning method of an unmanned aerial vehicle moving platform in a multi-domain terrain environment. The global path planning method comprises a calculation methodfor the passing cost of the multi-domain terrain environment with a pavement pavement, a soft pavement, a wading pavement, a ramp, a ditch and a cliff and a path planning method based on the cost calculation method. The cost calculation considers the speed and the energy consumption of task execution of the platform, the time consumption cost and the energy consumption cost are included, and respective weight values are given to the time consumption cost and the energy consumption cost; the calculation of the time consumption cost and the energy consumption cost is combined with the obstaclecrossing capability of the platform and topographic environment factors, and a parameterized function relational expression of the passage cost of the maneuvering platform and the type and the size oftopographic obstacles is established; and the cost calculation method is combined with a traditional path planning method to realize a global path planning function of the maneuvering platform in a multi-domain terrain environment.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a global path planning method for an unmanned maneuvering platform in a multi-domain terrain environment. Background technique [0002] In recent years, with the development of artificial intelligence technology, unmanned vehicle technology has also developed rapidly. As a kind of unmanned vehicles, unmanned mobile platforms are more and more widely used in occasions such as deep-seismic area rescue, battlefield operations, and field environment delivery of materials. Among them, the global path planning technology can calculate and select the optimal route for the mobile platform to operate in the field environment, which is very important for the unmanned execution of the task of the mobile platform, so many global path planning methods have been proposed. [0003] The patent application "201610161418.X" for the invention patent "A Method for Car Driving Route Planni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D2201/02
Inventor 梁华为蒋春茂丁祎李志远王智灵陶翔张辉孙超
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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