An unmanned aerial vehicle all-directional obstacle avoidance method based on millimeter wave radar and binocular laser module

By combining millimeter-wave radar and binocular laser modules, omnidirectional obstacle detection of drones is achieved. The threat level is distinguished according to the nature of the obstacle, and targeted obstacle avoidance actions are performed. This solves the problem of poor obstacle avoidance performance of drones under low visibility conditions, reduces energy consumption, and ensures endurance and safety.

CN117075146BActive Publication Date: 2026-05-29CHINESE PEOPLES LIBERATION ARMY KET FORCE SERGEANT SCHOOL
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Patent Information

Application Number
CN202310817902.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-07-05
Publication Date
2026-05-29
Estimated Expiration
2043-07-05

AI Technical Summary

Technical Problem

Existing drone obstacle avoidance technologies are ineffective in low visibility conditions, sensors are susceptible to interference and consume a lot of energy, making it difficult to achieve omnidirectional obstacle avoidance.

Method used

It employs a combination of millimeter-wave radar and binocular laser modules to achieve omnidirectional obstacle detection, distinguish the degree of threat based on the nature of the obstacle, and perform targeted obstacle avoidance actions, including low-frequency monitoring, increasing detection frequency, and flight path planning.

Benefits of technology

It enables omnidirectional obstacle avoidance for drones under low visibility conditions, reduces the energy consumption of detection equipment, ensures endurance, and improves the safety and efficiency of obstacle avoidance.

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Abstract

The application discloses a kind of unmanned plane omnidirectional obstacle avoidance methods based on millimeter wave radar and binocular laser module, forward binocular laser obstacle avoidance module is set below unmanned plane center disc, and obstacle detection within 40m range is realized by double camera image processing plus laser ranging;Millimeter wave radar module is set in upper, lower, rear, left and right 5 directions below unmanned plane center disc, and obstacle detection within 40m detection distance can be realized.The omnidirectional obstacle avoidance method of unmanned plane of the application adopts omnidirectional detection of obstacle avoidance detection module, whether unmanned plane and obstacle will collide is judged using collision detection algorithm, if collision will be generated or dangerous approach will be generated, unmanned plane route is re-planned using velocity field method and dynamic window method, and omnidirectional obstacle avoidance function is realized.The unmanned plane obstacle avoidance mode of the application can be upgraded, the optimization of unmanned plane omnidirectional obstacle avoidance is realized, the effect of obstacle avoidance is good, safety is high, and omnidirectional obstacle avoidance detection has the advantages of long detection distance, stable detection performance and the like.
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