Unmanned aerial vehicle mixing path planning method

A hybrid path, UAV technology, applied in the direction of finding the target control and other directions, can solve the problems of poor robustness, easy occurrence of obstacles, collisions, etc., to reduce the computational load and time-consuming effects.
CN113220037AActive Publication Date: 2021-08-06YANGTZE UNIVERSITY
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
YANGTZE UNIVERSITY
Publication Date
2021-08-06

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Abstract

The invention relates to an unmanned aerial vehicle autonomous path planning method, and belongs to the technical field of unmanned aerial vehicle control. The unmanned aerial vehicle hybrid path planning method is improved on the basis of an existing ADA * algorithm, time consumption caused by repeated sorting is reduced, meanwhile, for unmanned aerial vehicle obstacle avoidance, a local planning neural network based on DRL is additionally adopted, existing obstacles are detected, a path is re-planned, the calculation load of an airborne computer is greatly reduced, and obstacles can be effectively avoided.
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Description

technical field

[0001] The invention relates to a method for autonomously planning a path of an unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicle control. Background technique

[0002] With the development of drone technology and market popularization, drones have also been widely used in civil fields such as aerial photography, inspection, agriculture, forestry and plant protection, environmental protection, and post-disaster rescue. However, in reality, there are many complicated restrictions on the flight routes of drones, such as buildings, airports, government agencies, schools, crowded areas and other no-fly zones. It will cause personal safety risks and even directly cause accidents. Therefore, planning a safe and globally optimal route that avoids sensitive areas before UAV operations has become an urgent need.

[0003] At present, there are many methods for autonomously planning paths of UAVs. For example, a UAV route plannin...

Claims

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