Unmanned aerial vehicle path planning method

Abstract

The invention relates to an unmanned aerial vehicle path planning method, which comprises the following steps of: firstly, acquiring a reference object geographic coordinate and a vector map of a flight area in a certain radius range of an unmanned aerial vehicle, so as to calculate a target spot path taking an unmanned aerial vehicle body as a center, the parameters of the target path comprise longitude, dimension, elevation, obstacle relative distance and subject matter relative distance; through the acquisition of related parameters of the surrounding environment of the unmanned aerial vehicle, the dynamic adjustment of a target path is ensured through obstacle avoidance design and optimization, an optimal flight path is obtained, and real-time path planning is realized.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a path planning method for unmanned aerial vehicles. Background Art

[0002] Background technology of UAV path planning method is a complex and evolving field. With the rapid advancement of UAV technology, the requirements for UAV control methods are also increasing. The flight scenarios of UAVs are very complex. When considering their path planning, it is necessary to plan in advance based on the determined environmental information. UAVs may encounter obstacles and changes in the target during flight, and it is necessary to dynamically adjust the path to achieve safe flight and energy saving of the UAV and meet the mission requirements. For this reason, we propose a UAV path planning method to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a UAV path planning method to solve the problems raised in the above background technology.

[0004] The technical solution of the present invention is: a method for planning a path of a UAV, which obtains the geographic coordinates of reference objects within a certain radius of the UAV and a vector map of the flight area, thereby calculating a target path centered on the UAV fuselage, wherein the reference objects include obstacles and target objects; the parameters of the target path include longitude, latitude, elevation, relative distance of obstacles, and relative distance of target objects; Determining whether the drone has a yaw angle and a roll angle; If the drone has a yaw angle, a compensation calculation is performed on the elevation of the target path; if the drone has a roll angle, a compensation calculation is performed on the relative distance of the obstacle; According to the compensation calculation result, a target path centered on the UAV fuselage is obtained, and the flight direction of the UAV is corrected, so as to determine the optimal flight direction of the UAV and control the UAV to fly along the optimal flight direction to avoid obstacles within a certain radius of the UAV; the geographic information coordinates include: obtaining the longitude, latitude and elevation of the reference object; The drone is equipped with a binocular camera, a laser radar, a gyroscope device and a control terminal; the binocular camera is used to collect the elevation coordinates of obstacles and targets, the laser radar is used to collect the actual distance between obstacles and targets, and the gyroscope is used to adjust the flight angle; The compensation calculation method is as follows: when the yaw angle of the UAV is greater than 5°, the elevation of the UAV is calculated according to the deflection angle and updated to the parameters of the target path. The vector map of the flight area is divided into multiple areas, and the relative distance of the obstacles is sampled. If the relative distance of the obstacle and the distance of the target path are greater than the initial predetermined distance, the control terminal determines that the parameter coordinates of the target path do not fall into the dangerous area and determines it as a passable area. Otherwise, the control terminal determines that the parameter coordinates of the target path fall into the dangerous area and determines it as an inaccessible area.

[0005] If the target object is a drone landing platform, the target path plans the shortest path according to the relative distance of the target object; When the target object is an aerial follow-up target, the target path plans a regional path according to the relative distance of the target object; the regional path is that the drone on the target path and the target object always maintain a certain distance range. If an obstacle is encountered, the altitude of the drone is adjusted to maintain the distance range with the target object. It also includes: when it is determined to be an impassable area, the area of ​​the vector map is re-divided.

[0006] Including the calculation of the obstacle avoidance performance of the UAV path planning, the formula is: ; in, ) is the distance between the target path and the obstacle; when When the value is less than the safety factor, re-plan the target path or start the return through the control terminal.

[0007] The present invention provides a grass planting mosaic drone through improvement, which has the following improvements and advantages compared with the prior art: The present application provides a UAV path planning method, which obtains relevant parameters of the UAV's surrounding environment, ensures dynamic adjustment of the target path through obstacle avoidance design and optimization, obtains the optimal flight path, and realizes real-time path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0009] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0010] The present invention provides a drone path planning method through improvement. The technical solution of the present invention is: As shown in the figure, a method for planning a path for a UAV obtains the geographic coordinates of reference objects within a certain radius of the UAV and a vector map of the flight area, thereby calculating a target path centered on the UAV fuselage, wherein the reference objects include obstacles and target objects; the parameters of the target path include longitude, latitude, elevation, relative distance of obstacles, and relative distance of target objects; Determining whether the drone has a yaw angle and a roll angle; If the drone has a yaw angle, a compensation calculation is performed on the elevation of the target path; if the drone has a roll angle, a compensation calculation is performed on the relative distance of the obstacle; According to the compensation calculation result, a target path centered on the UAV fuselage is obtained, and the flight direction of the UAV is corrected, so as to determine the optimal flight direction of the UAV and control the UAV to fly along the optimal flight direction to avoid obstacles within a certain radius of the UAV; the geographic information coordinates include: obtaining the longitude, latitude and elevation of the reference object; The drone is equipped with a binocular camera, a laser radar, a gyroscope device and a control terminal; the binocular camera is used to collect the elevation coordinates of obstacles and targets, the laser radar is used to collect the actual distance between obstacles and targets, and the gyroscope is used to adjust the flight angle; The compensation calculation method is as follows: when the yaw angle of the UAV is greater than 5°, the elevation of the UAV is calculated according to the deflection angle and updated to the parameters of the target path. The vector map of the flight area is divided into multiple areas, and the relative distance of the obstacles is sampled. If the relative distance of the obstacle and the distance of the target path are greater than the initial predetermined distance, the control terminal determines that the parameter coordinates of the target path do not fall into the dangerous area and determines it as a passable area. Otherwise, the control terminal determines that the parameter coordinates of the target path fall into the dangerous area and determines it as an inaccessible area.

[0011] If the target object is a drone landing platform, the target path plans the shortest path according to the relative distance of the target object; When the target object is an aerial follow-up target, the target path plans a regional path according to the relative distance of the target object; the regional path is that the drone on the target path and the target object always maintain a certain distance range. If an obstacle is encountered, the altitude of the drone is adjusted to maintain the distance range with the target object. It also includes: when it is determined to be an impassable area, the area of ​​the vector map is re-divided.

[0012] Including the calculation of the obstacle avoidance performance of the UAV path planning, the formula is: ; in, ) is the distance between the target path and the obstacle; when When the value is less than the safety factor, re-plan the target path or start the return through the control terminal.

[0013] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for planning a path for an unmanned aerial vehicle, which obtains the geographic coordinates of reference objects within a certain radius of the unmanned aerial vehicle and a vector map of the flight area, thereby calculating a target path centered on the fuselage of the unmanned aerial vehicle, wherein the reference objects include obstacles and target objects; the parameters of the target path include longitude, latitude, elevation, relative distance of obstacles, and relative distance of target objects, and is characterized in that: Determining whether the drone has a yaw angle and a roll angle; If the drone has a yaw angle, a compensation calculation is performed on the elevation of the target path; if the drone has a roll angle, a compensation calculation is performed on the relative distance of the obstacle; According to the compensation calculation results, the target path centered on the UAV fuselage is obtained, and the flight direction of the UAV is corrected, so as to determine the best flight direction of the UAV and control the UAV to fly along the best flight direction to avoid obstacles within a certain radius of the UAV; The geographic information coordinates include: obtaining the longitude, latitude and elevation of the reference object; The drone is equipped with a binocular camera, a laser radar, a gyroscope device and a control terminal; the binocular camera is used to collect the elevation coordinates of obstacles and targets, the laser radar is used to collect the actual distance between obstacles and targets, and the gyroscope is used to adjust the flight angle; The compensation calculation method is as follows: when the yaw angle of the UAV is greater than 5°, the elevation of the UAV is calculated according to the deflection angle and updated to the parameters of the target path. The vector map of the flight area is divided into multiple areas, and the relative distance of the obstacles is sampled. If the relative distance of the obstacle and the distance of the target path are greater than the initial predetermined distance, the control terminal determines that the parameter coordinates of the target path do not fall into the dangerous area and determines it as a passable area. Otherwise, the control terminal determines that the parameter coordinates of the target path fall into the dangerous area and determines it as an inaccessible area.

2. A UAV path planning method according to claim 1, characterized in that: If the target object is a drone landing platform, the target path plans the shortest path according to the relative distance of the target object; When the target object is an aerial follow-up target, the target path plans a regional path according to the relative distance of the target object; the regional path is that the drone and the target object on the target path always maintain a certain distance range. If an obstacle is encountered, the altitude of the drone is adjusted to maintain the distance range with the target object.

3. A UAV path planning method according to claim 1, characterized in that: Also includes: When it is determined to be an impassable area, the area of ​​the vector map is re-divided.

4. A method for UAV path planning according to any one of claims 1 to 3, characterized in that: Including the calculation of the obstacle avoidance performance of the UAV path planning, the formula is: ； in, ) is the distance between the target path and the obstacle; when When the value is less than the safety factor, re-plan the target path or start the return through the control terminal.

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