Unmanned aerial vehicle air route network automatic generation method considering specific structure
A technology that automatically generates and route network, applied in the field of UAV
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[0086] In order to further explain the above technical solutions and actual effects, the following will be described in detail below.
[0087] Get grid to a two-dimensional aerial matrix A for a certain airspace. Such a two-dimensional airspace matrix may come from a three-dimensional map, extract a height of a high layer of a height in a three-dimensional map, and it is obtained after the corresponding evaluation is assigned. Or from the processed satellite image. Considering the size of the drone and the speed of the drone, the rasterization resolution should not exceed 1M × 1m. Because too high resolution not only does not bring more detail processing, it will reduce the algorithm speed because the airspace matrix is too large. The map is binaryized to 0-1 matrix. like Figure 8A It is a two-standard airspace, a resolution of 10m × 10m.
[0088] like Figure 8B In the airspace map, a certain target point is randomly, with a black cross identity.
[0089] like Figure 8C Artifici...
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