Unmanned aerial vehicle path planning method and device

Abstract

The invention discloses an unmanned aerial vehicle path planning method and device, and the method comprises the steps: 1), carrying out network rasterization modeling on a coverage region, and defining four types of flight actions of an unmanned aerial vehicle; 2) initializing an initial population of a genetic algorithm in a host process, dividing the initial population into sub-populations according to the number of processes, creating sub-processes, transmitting the sub-populations to the sub-processes, and defining a fitness function; 3) sequentially executing the steps 4-8) in the sub-processes; 4) transmitting the individual with the lowest fitness to the host process, namely the optimal individual; 5) judging whether the current algebra needs to be subjected to population migrationor not, and if so, executing the step 6), or otherwise, executing the step 7); 6) executing the step (7) after population migration; 7) defining selection, crossover and mutation modes and conductingconvergence operation on chromosome paths; and (8) judging whether a flight path which meets an expected value and is lowest in energy consumption or whether the current iteration number reaches themaximum or not according to a convergence value, and if so, ending the process. The device comprises a memory and a processor.

Description

technical field [0001] The invention relates to the field of UAV path planning, in particular to a UAV path planning method and device. Background technique [0002] As an emerging high-end technology product in recent years, drones have been widely used in many different fields, such as aerial photography mapping, disaster search and rescue, precision agriculture, pipeline inspection and other applications. [0003] In specific applications, UAVs need to traverse a certain full coverage path according to a given demarcated area. At present, the traversal is completed by means of round-trip and spiral. UAVs mostly use on-board power supplies to provide energy to support the completion of flight missions. Due to the limitation of on-board power sources to store energy, the use of on-board power sources is limited. Flying between coordinate points to complete full coverage traversal will result in wasted energy, which reduces the time for the on-board power supply to provide...

AI Technical Summary

Problems solved by technology

UAVs mostly use onboard power to provide energy to support the completion of flight tasks. Due to the limitation of onboard power storage energy, the use time of onboard power is limited. Complete full-coverage traversal between coordinate points will cause energy waste. In this way, the time for onboard power supply to provide energy is reduced, which affects the normal use of drones.

[0004] Secondly, as the task becomes more and more complex, the number of coordinate points that the UAV path needs to cover and traverse gradually increases, and the dimension of calculation continues to increase. The traditional algorithm cannot plan an energy-optimal path within a given time, resulting in The calculation time is too long to meet the needs of practical applications

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