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: carrying out the network grid method modeling of a coverage region, and generating a chromosome path according to a gridded matrix map; selecting a preset number of chromosome paths as an initial population, and defining a fitness function according to an energy consumption relationship in the motion of the unmanned aerial vehicle; selecting a chromosome path with a low fitness function as a parent chromosome according to a preset proportion, selecting a chromosome path fromall chromosome paths, newly adding the chromosome path into the initial population to form a current population, and selecting an amphiphilic chromosome from the current population; crossing the amphiphilic chromosomes according to the cross coding probability to obtain crossed chromosomes; determining mutation of the crossed chromosomes according to a preset mutation probability to obtain a new first generation; and generating a new population according to the first progeny, calculating fitness functions corresponding to all successfully verified chromosome paths, and determining the path with the lowest fitness function as the current optimal chromosome path.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, in particular to a method and device for planning a path of an unmanned aerial vehicle. 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 and mapping, disaster search and rescue, precision agriculture, pipeline inspection and other applications. [0003] In the specific application of the UAV, it is necessary to traverse the UAV according to a certain full-coverage path according to a given demarcated area. At present, round-trip and spiral methods are mostly used to complete the traversal. At present, most drones use onboard power supply to provide energy to support the completion of flight missions, but the onboard power supply is limited in energy storage and the use time of the onboard power supply is limited. Flying between coordin...

AI Technical Summary

Problems solved by technology

At present, UAVs mostly use onboard power supply to provide energy to support the completion of flight tasks, but the onboard power supply is limited in energy storage, and the use time of onboard power supply is limited. Flying between the coordinate points to complete the full coverage traversal will cause energy waste. In this way, the time for the onboard power supply to provide energy is reduced, which affects the normal use of the UAV.

Images