一种用于旋翼无人机集群的协同感知规划方法及集群系统

By using depth cameras to construct environmental maps and perform convex decomposition in a drone swarm, and combining this with a distributed planner to optimize trajectories, the problem of collaborative path planning for drone swarms in unknown environments was solved, enabling autonomous perception and obstacle avoidance capabilities.

CN117555343BActive Publication Date: 2026-07-17NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Filing Date
2023-11-13
Publication Date
2026-07-17

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Abstract

本发明实施例公开了一种用于旋翼无人机集群的协同感知规划方法及集群系统，涉及集群无人机运动规划与控制领域。集群系统处于未知环境时，通过无人机定位以及深度图构建滚动尺度地图并实时更新，实时构建无人机周围的环境；在已构建的环境中进行路径规划，实施前端的路径搜索和后端的轨迹优化；集群成员之间进行通信，交换各自规划的轨迹，对可能出现的碰撞进行规避之后，最终得到各个成员的路径。本实施例中的每个集群成员具备自主感知和自主规划的能力，可以在没有GPS信号的环境中用视觉传感器进行定位；感知未知环境并建图；进行实时协同路径规划，规划的路径能够规避障碍物，避免机间碰撞。
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