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Real-time path planning method, device, movable vehicle and storage medium

A technology for real-time path planning and moving vehicles, applied in non-electric variable control, three-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as inapplicability and limited search range of airborne sensors, and achieve The effect of avoiding entering the danger zone

Active Publication Date: 2021-11-09
ZEROTECH (SHENZHEN) INTELLIGENCE ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] This method is only suitable for low-altitude multi-rotor UAVs, and the search range of its onboard sensors is limited, so it is not suitable for today's high-altitude operating environment

Method used

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  • Real-time path planning method, device, movable vehicle and storage medium
  • Real-time path planning method, device, movable vehicle and storage medium
  • Real-time path planning method, device, movable vehicle and storage medium

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0037] In order to better understand the present invention, the following combination Figure 1 to Figure 11 The real-time path planning method, device, movable carrier and computer-readable storage medium provided by the embodiments of the present invention are described in detail. It should be noted that these examples are not intended to limit the scope of the present disclosure. Such as figure 1 As shown, in one embodiment of the present invention, the m...

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Abstract

Embodiments of the present invention provide a real-time path planning method, device, movable vehicle, and storage medium. The method is used for a movable vehicle, and includes: obtaining the current traveling data of the movable vehicle, traveling road condition information, and Global DEM data; according to the current travel data, the global DEM data and the travel road condition information, determine whether the current travel route is safe; if not, then according to the current travel data and dynamic constraints of the movable vehicle Planning a local travel route; controlling the movable vehicle to travel according to the local travel route, which can efficiently and smoothly plan a local travel route, thereby realizing precise control of the movable vehicle and avoiding the movement of the movable vehicle Dangerous zone.

Description

technical field [0001] The invention relates to the field of motion control, in particular to a real-time path planning method, device, movable carrier and computer-readable storage medium. Background technique [0002] Movable vehicles, such as drones, robots, mobile cars, mobile boats or underwater mobile equipment, play an important role in many fields such as agriculture, industry, film and television, search and rescue, police, military, etc., and can adapt to complex environment of. [0003] Traditional mobile vehicles, such as drones, need to be designed by the operator before the operation. The route may include several partial travel segments composed of several coordinate point sequences, and the movable vehicle visits these partial travel segments in sequence. Since the operator cannot understand the status information in the route area in real time, it is easy to cause conflicts between the route and the information in the actual task area, and eventually lead ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 张新璐
Owner ZEROTECH (SHENZHEN) INTELLIGENCE ROBOT CO LTD