Three-dimensional real-time RRT* air route planning method based on rolling time domain
A rolling time domain, route planning technology, applied in the direction of finding the target control, etc., can solve the problems of obstacle uncertainty, unable to realize the implementation planning, etc., achieve the effect of rapid convergence and reduce the calculation load
Pending Publication Date: 2022-03-25
BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH +1
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In addition, due to the uncertainty of obstacles in the dynamic environment, it brings more serious challenges
First of all, when an obstacle is detected on the planned route, it is necessary to plan a new route in a very short time, and the traditional RRT* cannot achieve the purpose of implementing the plan
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[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0037] An embodiment of the present invention provides a three-dimensional real-time RRT* method based on rolling time domain, such as figure 1 As shown, the main purpose is to study the online algorithm to generate feasible routes in real time, so the algorithm time is the prerequisite for optimization. In addition, the size of the cost is also an important guarantee for the feasibility of the route. In this paper, the length of the route is used to calculate t...
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The invention discloses a three-dimensional real-time RRT * route planning method based on a rolling time domain, and belongs to the technical field of aircraft task planning. Aiming at the characteristics that the random sampling optimization efficiency of the RRT * algorithm is low, invalid random points can multiply the scanning time, and an online planning algorithm requires an aircraft to be far away from an obstacle as far as possible, the invention proposes that the direction of an artificial potential field is used as an influence factor to guide RRT * node growth, and biased random samples are adopted to increase the utilization rate of the random points; and optimizing and updating the current position in real time based on a rolling time domain, and finally reducing unnecessary scanning processes by using a node removal method so as to realize online three-dimensional air route planning.
Description
technical field [0001] The invention belongs to the technical field of aircraft task planning, in particular to a three-dimensional real-time RRT* method based on rolling time domain. Background technique [0002] Online route planning should avoid obstacles and dangers under the premise of meeting the flight restrictions of drones, and consider real-time, feasibility and other requirements. Traditional real-time planning A* and D* algorithms require a large amount of calculation, especially in three-dimensional space. The artificial potential field algorithm is simple and easy to implement, but it is easy to fall into problems such as minimum value and unreachable target area. The swarm intelligence algorithm can obtain the global optimal solution, but it has a large amount of calculation and a long convergence time, which is not suitable for problems that require a short planning time. Rapid Random Search Tree (RRT) is an algorithm with fast speed, good real-time perform...
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IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 杨小草步雨浓都延丽刘燕斌高程
Owner BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH