Hybrid unmanned aerial vehicle autonomous detection method based on boundary and sampling

Abstract

The invention provides a hybrid unmanned aerial vehicle autonomous detection method based on boundary and sampling, and the method comprises the following steps: firstly, carrying out the detection and extraction of boundary points according to a proposed strategy; secondly, on the basis of the extracted boundary points, continuing sampling of the observation points, selecting the optimal observation point by calculating the detection gain at the sampling boundary points, and planning a heading route based on a fast expansion random tree; then, adding the observation point as a vertex into a historical route map, and adding a collision-free edge connected with the original vertex in the historical route map into the route map; and finally, when no new boundary point is detected, planning a route for returning to the nearest boundary point to be detected in the historical route map, and when the boundary point cannot be found in the whole detection task, determining that the detection is completed. According to the method, autonomous detection of the unmanned aerial vehicle in a bounded unknown environment can be realized under the condition that the calculated amount is limited, and the method has the advantages of low energy consumption and high detection efficiency.

Description

technical field [0001] The invention belongs to the technical field of UAV path planning, and specifically relates to a hybrid UAV autonomous detection method based on boundary and sampling, which is mainly applied to the optimal flight route for UAV to complete autonomous exploration in a completely unknown three-dimensional bounded environment planning. Background technique [0002] In recent years, with the development of science and technology, unmanned autonomous robots have played an important role in many fields, such as underground mines, precision agriculture, post-disaster rescue, and 3D reconstruction, etc. As one of the most representative types of autonomous robots, unmanned aerial vehicles (UAVs) are becoming more and more popular due to their flexible mobility and small size. Among the many applications of UAVs, the autonomous exploration of completely unknown 3D environments cannot be ignored. Accurate and fast autonomous exploration can buy time for people...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a hybrid UAV autonomous detection method based on boundaries and sampling, which is a small amount of calculation and energy A method that consumes less and can realize the autonomous detection of UAVs in unknown environments with shorter flight distances and flight durations. In addition, it also introduces the idea of ​​historical roadmaps to solve the problem of UAVs with limited calculations and onboard energy. Accurate and fast autonomous detection of problems under certain circumstances improves its exploration efficiency, especially in large-scale scenarios.

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