Unmanned aerial vehicle path obstacle avoidance adjustment method, computer device and readable storage medium

Abstract

The invention provides an unmanned aerial vehicle path obstacle avoidance adjustment method, a computer device and a computer readable storage medium. According to the method, through the obstacle avoidance algorithm, obstacles between waypoints can be effectively avoided, the air route of the unmanned aerial vehicle can be ensured to be the shortest voyage between the sub-regions, the cruising ability of the unmanned aerial vehicle in an emergency state is effectively improved, and power consumption is reduced. Besides, the traditional obstacle avoidance method only considers the flow field repulsive force in a single direction, while the direction of the repulsive field is more refined, and a tangential flow field matrix is introduced, so the algorithm precision and the obstacle avoidance safety are improved, and the unmanned aerial vehicle has a better avoidance characteristic in the flight process.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method for adjusting the obstacle avoidance path of an unmanned aerial vehicle, a computer device and a computer-readable storage medium. Background technique [0002] Unmanned aircraft, referred to as "unmanned aerial vehicle", or "UAV" in English, is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device, or is completely or intermittently operated autonomously by an on-board computer. According to the application field, UAV can be divided into military and civilian. In terms of military use, UAVs are divided into reconnaissance aircraft and target aircraft. In terms of civilian use, drones + industry applications are the real rigid needs of drones; the current applications in aerial photography, agriculture, plant protection, miniature selfies, express delivery, disaster rescue, etc. have greatly...

AI Technical Summary

Problems solved by technology

In this case, if the UAV cannot be controlled in time, the UAV may crash, disappear, or even be captured by the enemy. Therefore, how to achieve emergency landing when the UAV engine stops unexpectedly and loses power? The zone is a problem that needs to be considered in the application of drones

[0004] However, in practical engineering applications, it is impossible to predetermine the stop time of the engine and the precise position of the UAV when the engine is stopped, and it is impossible to determine whether the battery power of the UAV can support the UAV to fly to the preset position in an emergency state. Therefore, it is necessary and reasonable to select an emergency landing site in real time

[0005] In the latest UAV forced landing scheme, most of the designs consider the forced landing method of unpowered landing at the best gliding speed, but rarely consider the avoidance of air or ground obstacles that may be encountered during the forced landing process.

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