A jumping grid search method considering the maneuverability constraints of unmanned aerial vehicles

CN114840029BActive Publication Date: 2025-01-103RD GENERAL DESIGN DEPT CHINA AEROSPACE SCI & IND CORP
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Patent Information

Application Number
CN202210380979.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-04-12
Publication Date
2025-01-10
Estimated Expiration
2042-04-12

AI Technical Summary

Technical Problem

The existing collaborative search technology fails to fully consider the maneuverability constraints of drones when making grid search decisions, resulting in a mismatch between the search track and the maneuverability of drones, reducing search efficiency and safety performance.

Method used

A jump grid search method considering the maneuverability constraints of the drone is proposed. By rastering the map, the number of jump grids is determined based on the current speed and maneuverability constraints of the drone, and a grid that can be made for decision is selected. And use search returns as the decision criteria to select the next moving target grid to realize online rolling decisions.

Benefits of technology

It significantly improves search efficiency and the safety performance of the drone. The planned search track is more in line with the maneuverability of the drone and is suitable for multi-agent collaborative online search decision-making and search track planning.

✦ Generated by Eureka AI based on patent content.

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Abstract

The present invention provides a jump grid search method considering the mobility constraints of unmanned aerial vehicles, and the search method includes: rasterizing the map and defining the coordinates of each grid therein; determining the number of jump grids for the next step according to the current speed and mobility constraints of the unmanned aerial vehicle; determining the grids available for decision-making according to the mobility constraints and the number of jump grids; calculating the search benefit according to the grids available for decision-making and deciding the target grid for the next movement of the unmanned aerial vehicle according to the search benefit; judging whether the search task is completed after the unmanned aerial vehicle moves through the search information, if not, repeating the aforementioned search decision process, and if yes, ending the search. The technical solution of the present invention is applied to solve the technical problems that the search track planned by the existing search decision method does not match the mobility of the unmanned aerial vehicle, resulting in low search efficiency and affecting the safety performance of the unmanned aerial vehicle.
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Citation Information

Patent Citations

  • Mobile robot real-time layered path planning method based on grid map

    CN105955262A

  • Space-air-sea integrated underwater vehicle inertia / gravity combined navigation method and system

    CN108896040A