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A path planning, aircraft technology, applied in the direction of instruments, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problem of no obstacle avoidance function, etc., to achieve the effect of broad application prospects
Pending Publication Date: 2022-03-25
陕西掘金一号网络科技有限公司
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[0007] Completing the above settings can meet the constraints of the general UAV operation path. However, the existing flight trajectory algorithm does not have the function of obstacle avoidance. Algorithms for path planning and obstacle avoidance are especially necessary
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Embodiment 1
[0051] Example 1: When the intersection point of the route and the obstacle is [Xa, Xc], in order to avoid the obstacle, there are two options for planning the path: one is to go around along the two points b and c, and the other is to follow The two points a and d go around, and the law is clockwise:
[0052] ①If the original route is A→B, the obstacle avoidance route is corrected as: A→Xa→b→c→Xc→B;
[0053] ②If the original route is B→A, the obstacle avoidance route is corrected to: B→Xc→d→a→Xa→A.
Embodiment 2
[0054] Example 2: When the intersection point of the route and the obstacle is [Xd, Xb], in order to avoid the obstacle, there are two options for planning the path: one is to go around along two points a and b, and the other is to follow D, c two points around, with clockwise around the law:
[0055] ①If the original route is A→B, the obstacle avoidance route is corrected as: A→Xd→a→b→Xb→B;
[0056] ②If the original route is B→A, then the obstacle avoidance route is corrected to: B→Xb→c→d→Xd→A.
Embodiment 3
[0057]Example 3: When the intersection point of the route and the obstacle is [Xa, Xb], in order to avoid the obstacle, there are two options for planning the path: one is to go around point b, and the other is to follow a, d , c around the three points, with clockwise around the law:
[0058] ①If the original route is A→B, the obstacle avoidance route is corrected as: A→Xa→b→Xb→B;
[0059] ②If the original route is B→A, the obstacle avoidance route is corrected to: B→Xb→c→d→a→Xa→A.
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Abstract
The invention discloses a method for planning an obstacle avoidance path of an aircraft, and relates to the technical field of path planning. The method comprises the following steps: generating path trajectory data under a barrier-free condition according to a defined range, a rotation angle and a row spacing; obstacles are added in the delineated land parcels, and tracks are correspondingly adjusted; initial track points are input, the track points are cyclically traversed, and whether the track points intersect with the obstacles or not is judged in a pairwise mode; if not, the intersection situation is repeatedly judged; if so, respectively calculating the intersection point of the connecting line of the two current points and each side of the obstacle, recording, and correcting the obstacle avoidance route according to the route direction; and ending traversal, re-rendering the route map according to the corrected route, and ending logic. In the process of realizing path planning and setting, one or more obstacles can be set, the path can be planned to bypass the obstacles, the obstacle avoidance function is achieved, and the application prospect is wide.
Description
technical field [0001] The invention relates to the technical field of path planning, in particular to a method for path planning of an aircraft obstacle avoidance. Background technique [0002] At present, before the operation of the drone, it is necessary to plan the flight route of the drone in advance. The general steps are: [0003] (1) Delineate the range: Draw a polygonal boundary on the map, indicating that all trajectories of the drone cannot exceed this range; [0004] (2) Set the flight angle: the UAV performs reciprocating flight according to this angle; [0005] (3) Set the path spacing: the distance between the flight paths of the UAV; [0006] (4) Place obstacles: within the delineated range, specify a range to represent obstacles. The trajectory of the drone cannot enter this range. There can be multiple obstacles within the delineated range. [0007] Completing the above settings can meet the constraints of the general UAV operation path. However, the exi...
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