Multi-azimuth detection and multi-angle intelligent obstacle avoidance method for unmanned aerial vehicle

Abstract

The invention discloses a multi-azimuth detection and multi-angle intelligent obstacle avoidance method for an unmanned aerial vehicle. The method comprises the following steps that a distance is measured through a laser radar; the data acquired by the laser radar are processed through a data processing module; and an obstacle avoidance control system performs an obstacle avoidance process according to the acquired data. According to the technical scheme, 360-degree scanning can be carried out on the wire, the tree barrier and the surrounding environment at the same time in two directions by using a multi-line laser radar; environmental information acquired by the sensor is analyzed by using a positioning and drawing algorithm; a surrounding environment map of the unmanned aerial vehicle is established and the unmanned aerial vehicle is located, an optimal path for the unmanned aerial vehicle to fly to a target point is planned by utilizing an algorithm after the environment map exists, the detection precision is high, the use environment is relatively wide, the influence of factors such as weather and light is avoided, and the method can also be used in a dark environment.

Description

Technical field [0001] The present invention relates to the field of drone control, and more particularly to a multi-directional detection of drone, multi-angle intelligent avoidance method. Background technique [0002] According to information, existing drone avoidance is mainly ultrasonic avoidance and infrared avoidance, where ultrasonic avoidance is mainly mounted in the drone and the controller communication, drone The sensor continues to emit ultrasonic waves around. When the obstacle wave will reflect it, the distance and orientation of the retrofitable reflection signal can be calculated, the ultrasonic sensor module has a light weight, small size, and generking method. The price is cheap, it is not easy to be affected by the optical wave. The infrared avoidance principle is substantially the same as the ultrasonic avoidance principle. Different are less accurate and low accuracy, and the infrared measurement is more accurate, but it is extremely vulnerable to other ligh...

AI Technical Summary

Problems solved by technology

[0006] The present invention mainly solves the technical problem that the original UAV obstacle avoidance method is easily affected by the environment, and provides a UAV multi-directional detection and multi-angle intelligent obstacle avoidance method. Carry out 360° scanning of wires, tree barriers and the surrounding environment, use positioning and mapping algorithms to analyze the environmental information acquired by the sensor, establish a map of the surrounding environment of the UAV and position the UAV itself, and use the algorithm to plan out after the existing environmental map The best path for the drone to fly to the target point, with high detection accuracy, can be used in a wide range of environments, not affected by factors such as weather and light, and can also be used in dark environments

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