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Unmanned aerial vehicle obstacle avoidance path planning algorithm and path planning algorithm

A technology for unmanned aerial vehicles and path planning, applied in the field of path planning

Pending Publication Date: 2021-10-22
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The reason for this problem is that when the UAV 1 approaches the target, it will also approach the obstacle 2

Method used

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  • Unmanned aerial vehicle obstacle avoidance path planning algorithm and path planning algorithm
  • Unmanned aerial vehicle obstacle avoidance path planning algorithm and path planning algorithm
  • Unmanned aerial vehicle obstacle avoidance path planning algorithm and path planning algorithm

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Embodiment 1

[0049] refer to figure 1As shown, the present disclosure provides an obstacle avoidance path planning algorithm for unmanned aerial vehicles, the method includes, according to the position of the unmanned aerial vehicle, the position of obstacles, and the position of the target, the potential field force of the position of the unmanned aerial vehicle is detected by the artificial potential field method, and it is judged whether is the position of the local minimum value, where the UAV position can be a certain virtual position of the UAV in the route when the UAV route is planned, or it can be the actual position of the UAV when it is actually flying; When the UAV route is planned, the position of the UAV is a virtual position. When the UAV is actually flying, the UAV position is the actual position of the UAV; It can detect whether the UAV is in the local minimum position; the obstacle position can be the obstacle position already known during the UAV route planning, or the o...

Embodiment 2

[0074] refer to image 3 As shown, the present disclosure provides an unmanned aerial vehicle path planning algorithm, including:

[0075] Obtain the initial position and target position of the unmanned aerial vehicle. When the path planning of the unmanned aerial vehicle starts, the position of the unmanned aerial vehicle is at the initial position, and the target position can be the position of the end point of the flight of the unmanned aerial vehicle; therefore, when the path planning of the unmanned aerial vehicle is required When planning, the UAV starts planning from the initial position;

[0076] Path planning: Calculate the flight path from the UAV position to the target position through the artificial potential field method. When the UAV obstacle avoidance algorithm detects that the UAV position is a local minimum position, the UAV position in the flight path is applied The obstacle avoidance and escape algorithm of the unmanned aerial vehicle in the first embodimen...

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Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance path planning algorithm, and the algorithm comprises the steps: detecting whether the position of an unmanned aerial vehicle is a local minimum value position or not according to the position of the unmanned aerial vehicle, the position of an obstacle, and the position of a target, if yes, applying an escape force to the unmanned aerial vehicle at the local minimum value position, and re-initializing the potential field to enable the unmanned aerial vehicle to leave the local minimum position, wherein the local minimum value position is the position where the attractive force and the repulsive force of the unmanned aerial vehicle in the artificial potential field method are equal in magnitude and opposite in direction within a preset error range, and the position is not the target position. According to the method, whether the unmanned aerial vehicle is located at the local minimum position or not is detected, the escape force is set to solve the local minimum problem, the escape force can be activated every time the local minimum problem is detected, and in other words, the external repulsive force serves as a solution for getting rid of the local minimum.

Description

technical field [0001] The disclosure belongs to the field of path planning, and in particular relates to an obstacle avoidance path planning algorithm and a path planning algorithm for an unmanned aerial vehicle. Background technique [0002] Artificial potential field method (APF), as a common obstacle avoidance path planning algorithm, was first proposed in the mid-1980s. Compared with multi-layer search algorithms such as A* and genetic algorithms, the artificial potential field method has the characteristics of simple modeling, simple mathematical principles, fast response speed, and high real-time performance. It is a classical method that is widely used. In addition, the path calculated by the artificial potential field method has good smoothness and continuity, and has been widely used in real-time obstacle avoidance. However, when the artificial potential field method is directly used for UAV obstacle avoidance, there is often the problem that the obstacle avoidanc...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 董韶鹏吴泽炎袁梅赵龙飞崔晋童成彬屈玉丰
Owner BEIHANG UNIV
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