An unmanned aerial vehicle layered exploration method based on gravity mechanism view point generation

By adopting a hierarchical exploration method based on gravity mechanism viewpoint generation, the problem of efficiency and accuracy conflict between UAVs in multi-scale environments is solved, and efficient and high-precision autonomous exploration by UAVs is achieved.

CN119440028BActive Publication Date: 2026-05-01BEIJING INST OF TECH
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Patent Information

Application Number
CN202411140096.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-08-20
Publication Date
2026-05-01
Estimated Expiration
2044-08-20

AI Technical Summary

Technical Problem

Existing autonomous exploration methods for UAVs struggle to simultaneously guarantee high efficiency and high precision in multi-scale environments, especially when both wide and narrow scenarios coexist, resulting in either high exploration efficiency but insufficient precision, or high precision but low efficiency.

Method used

A hierarchical exploration method based on gravity mechanism viewpoint generation is adopted. Sensor pose and depth images are acquired through a forward-looking depth camera, a global map is incrementally constructed, the frontier is updated using an overlapping region judgment mechanism, viewpoints are generated by combining narrow-path gravity mechanism and interactive lateral gravity mechanism, and waypoint sequence is solved using ATSP cost matrix to achieve hierarchical exploration.

Benefits of technology

Achieving high-precision and high-efficiency exploration missions in multi-scale environments reduces the phenomenon of UAVs loitering in narrow scenes and unnecessary long-distance maneuvers in wide scenes, thereby improving exploration efficiency and accuracy.

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Abstract

The application discloses a kind of unmanned plane layered exploration methods based on gravity mechanism view point generation;The method uses layered mode, and different gravity mechanisms are proposed for fine scene and broad scene:When broad scene, unmanned plane uses interactive lateral gravity mechanism to update view point, so that view point produces distance unmanned plane itself body closer, reduce unnecessary long distance maneuver because view point distance unmanned plane is far;When fine scene, narrow lane gravity mechanism is used to sample and generate view point, so that view point produces smaller radius, and then make unmanned plane have longer track planning, reduce inefficient maneuver of advance-back, finally make unmanned plane complete exploration task in a kind of high precision, high efficiency.
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