Unmanned aerial vehicle dynamic target flight path planning method and system based on A* algorithm

Abstract

The invention provides an unmanned aerial vehicle dynamic target flight path planning method and system based on an A* algorithm. The method comprises the steps of S1, carrying out environment modeling on an indoor scene in which an unmanned aerial vehicle and a dynamic target move; S2, for the dynamic target, on the premise that the dynamic target moves at a constant speed, setting a motion model of the dynamic target, obtaining a motion rule of the dynamic target, calculating an intersection point of the dynamic target and the motion of the unmanned aerial vehicle, and providing an end point for track planning of the unmanned aerial vehicle; and S3, calculating an optimal unmanned aerial vehicle flight path line from the initial position of the unmanned aerial vehicle to the final intersection of the unmanned aerial vehicle and the dynamic target by using an improved A* algorithm. According to the unmanned aerial vehicle dynamic target flight path planning algorithm based on the A* algorithm, the accuracy and scientificity of flight path planning when the unmanned aerial vehicle tracks the dynamic target are improved, and a solution is provided for flight path planning of the unmanned aerial vehicle.

Description

technical field [0001] The present invention relates, in particular, to a UAV dynamic target track planning method and system based on the A* algorithm, and more specifically, to a UAV dynamic target track planning algorithm based on the A* algorithm. Background technique [0002] With the development of information technology, the development of UAVs has also entered the intelligent stage. UAVs can replace humans in collecting information, tracking targets, or other tasks in complex and dangerous scenes. In the whole process, for UAVs The goal of UAV trajectory planning is undoubtedly the core part of UAV flight. [0003] UAV track planning is to comprehensively consider multiple conditions such as UAV arrival time, energy consumption and obstacles, and plan the optimal path for UAV, so that UAV can successfully complete the task. Track planning is a multi-objective optimization problem. It is necessary to establish an objective function and constraints based on known envi...

AI Technical Summary

Problems solved by technology

[0009] 3. Although the existence of interference will change the movement speed of the dynamic target at the next moment, the dynamic target moves at a uniform speed as a whole;

[0011] 5. During the entire flight of the UAV, unexpected factors such as damage to the aircraft itself due to other reasons, sudden changes in the environment, etc. are not considered

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