Law enforcement unmanned aerial vehicle path planning method for countering low-altitude airspace aircraft

Abstract

The invention provides a law enforcement unmanned aerial vehicle path planning method for countering a low-altitude airspace aircraft, and the method comprises the steps: building a simulation environment map of a law enforcement unmanned aerial vehicle path planning space based on the environment information of a motion scene of a law enforcement unmanned aerial vehicle, and setting a target function through the simulation environment map; pre-planning a path of the law enforcement unmanned aerial vehicle by using an improved A * algorithm based on the objective function; in the flight process of the law enforcement unmanned aerial vehicle based on the pre-planned path, performing local obstacle avoidance by adopting a particle swarm optimization method so as to obtain an optimal path; and judging whether the position change of the black flight aircraft exceeds a set threshold, and if so, returning to the global planning path setting stage. By means of path planning of the law enforcement unmanned aerial vehicle, the law enforcement unmanned aerial vehicle can quickly and safely fly against the black flight aircraft and then strike the black flight aircraft in a short distance, and the problems that a traditional handheld anti-unmanned aerial vehicle system is large in transmitting power and inaccurate in target positioning, and secondary threats are introduced are solved.

Description

technical field [0001] The invention relates to the technical field of anti-aircraft low-altitude flight, in particular to a law enforcement unmanned aerial vehicle path planning method for anti-low-altitude airspace aircraft. Background technique [0002] At present, the related technologies of low-altitude airspace vehicles such as UAVs are developing rapidly and are widely used in various industries of national production. However, some lawbreakers illegally use low-altitude airspace aircraft intentionally or unintentionally. The emergence of "black flying" aircraft has increased the security threat of low-altitude airspace flight, and has also brought extreme risks to civil aviation, military restricted areas, security monitoring, personal privacy, etc. big threats and challenges. In order to counteract the "black flying" aircraft in time and minimize the introduction of secondary threats in the countermeasure process, it is efficient and safe to use law enforcement dro...

AI Technical Summary

Problems solved by technology

However, some criminals illegally use low-altitude airspace aircraft intentionally or unintentionally. Big Threats and Challenges

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