Unmanned aerial vehicle path searching method and device, electronic equipment and storage medium

Abstract

The invention provides an unmanned aerial vehicle path searching method and apparatus, an electronic device and a storage medium. The searching method comprises the steps of obtaining a starting point and an ending point of a flight path of an unmanned aerial vehicle in a pre-constructed grid map; determining a plurality of turning points of the flight path according to the starting point and the ending point of the flight path and path searching on the two sides of the obstacle; determining a grid path of the unmanned aerial vehicle in a grid map based on the plurality of turning points; and carrying out optimization processing on the grid path, and constructing a target flight path of the unmanned aerial vehicle in an environment map. By adopting the technical scheme provided by the invention, traversal search can be performed on the two sides of the obstacle at the same time, the multiple turning points which do not collide with each obstacle in the flight path are determined, the grid path formed by the starting point, the multiple turning points and the end point is optimized to obtain the target flight path, the flight path is simplified, and the flight efficiency is improved. The path searching speed is increased, the searching time is shortened, and therefore the flight time is saved.

Description

technical field [0001] The present application relates to the technical field of path planning, in particular to a search method, device, electronic equipment and storage medium for a UAV path. Background technique [0002] As the main research content of motion planning, path planning is often applied to the motion trajectory planning of intelligent technology products, including: the autonomous non-collision action of robots, the obstacle avoidance flight of drones, etc.; The man-machine plays the role of "courier", delivering the designated goods from the distribution area to a specific room or station. During this process, it may be necessary to fly up the stairs, cross the corridor, bypass the pillars, avoid obstacles while ensuring the path Optimum, but also to reach the destination accurately, which involves path planning in an environment with obstacles. [0003] At present, the UAV path search is mainly carried out through the A* algorithm. The turning points on th...

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Problems solved by technology

[0003] At present, the UAV path search is mainly carried out through the A* algorithm. The turning points on the searched flight path are multiple path nodes close to the edges of various obstacles in the flight environment. The flight path determined by the above-mentioned multiple path nodes The path will include most of the edge lines of multiple obstacles, which will result in a longer flight path, and the path nodes are read by latitude and longitude or relative coordinate positions. After the path search is completed, the output raster path is obtained to show a ladder For UAVs, it is necessary to frequently adjust the flight direction at large angles, which wastes a lot of flight time, not only the obtained path is more complicated, but also the search time is longer

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