Path planning and tracking method for micro flapping-wing air vehicle

Abstract

The invention discloses a miniature ornithopter path planning and tracking method, and belongs to the technical field of ornithopter control, and the miniature ornithopter path planning and tracking method comprises the steps: obtaining an initial position, a target position and environment data of an aircraft, and constructing a flight environment in real time; the bidirectional A algorithm is improved, and in the constructed flight environment, the improved bidirectional A algorithm is used for path planning; wherein the improvement on the bidirectional A algorithm comprises the following steps: adding a steering penalty factor in a cost function of the bidirectional A algorithm; the steering penalty factor is dynamically adjusted in the path planning process; and based on the path planning result, controlling the aircraft to fly along a predetermined trajectory and performing attitude adjustment. By adopting the technical scheme of the invention, the technical problems of poor steering stability, insufficient dynamic obstacle adaptability and large path tracking error of the micro flapping-wing air vehicle in a narrow space can be solved.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft control technology, and in particular to a path planning and tracking method for a micro flapping-wing aircraft. Background Technology

[0002] Micro flapping-wing aircraft, due to their lightweight, low noise, and high maneuverability, have become important tools for indoor missions. However, their autonomous flight faces the following challenges: low path planning efficiency, small wingspan (typically <30cm), low inertia, and aerodynamic nonlinear coupling effects, leading to instability and insufficient turning stability during high-speed turns. Existing control strategies are insufficient in compensating for aerodynamic disturbances and inertia, resulting in attitude adjustment errors of up to ±8.7cm. Path tracking accuracy is limited; traditional PID control does not fully integrate the aerodynamic characteristics of flapping-wing aircraft, such as lift-drag nonlinearity, and sensor noise jitter can cause significant tracking errors. The perception system of flapping-wing aircraft is further amplified by severe jitter, resulting in poor adaptability to dynamic environments, and existing algorithms lack a fast response mechanism. Summary of the Invention

[0003] This invention provides a path planning and tracking method for a micro flapping-wing aircraft to solve the technical problems of limited path tracking accuracy, poor adaptability to dynamic environments, and lack of rapid response mechanism in the prior art.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: On one hand, the present invention provides a path planning and tracking method for a micro flapping-wing aircraft, comprising: Acquire the aircraft's starting position, target position, and environmental data to construct the flight environment in real time; For bidirectional A The algorithm is improved, and an improved bidirectional A is used in the constructed flight environment. The algorithm performs path planning; among which, for bidirectional A The algorithm improvements include: in bidirectional A A turning penalty factor is added to the cost function of the algorithm; and the turning penalty factor is dynamically adjusted during the path planning process. Based on the path planning results, the aircraft is controlled to fly along a predetermined trajectory and its attitude is adjusted.

[0005] Furthermore, the acquisition of the aircraft's starting position, target position, and environmental data, and the real-time construction of the flight environment, includes: The system acquires the aircraft's starting position, target position, and environmental data, maps the space in which the aircraft is located into a dynamic grid map, and completes the construction of the flight environment. Among them, obstacles are marked as impassable nodes by affixing reflective stickers. The starting point is the aircraft's starting position, and the ending point is the aircraft's target position, with reflective stickers also affixed to the ending point. The aircraft, obstacles, and ending point are all located through a motion capture system.

[0006] Furthermore, the improved bidirectional A Algorithm cost function f ( n ) is represented as: f ( n )= g ( n )+ h ( n )+ α | θ ( n ) θ ( n 1) | in, g ( n () represents the distance from the starting position to the current node. n The actual movement cost (such as cumulative path length or energy consumption) is calculated using the physical distance of the explored path in the raster map; h ( n ) indicates starting from the current node n Heuristic cost estimation to the target location (such as Euclidean distance or Manhattan distance); θ ( n ) represents a node n The heading angle (in radians) at the current node is defined as the global coordinate system deflection angle of the line connecting the current node and the predecessor node. θ ( n 1) Represents the previous node n -1 heading angle; α It is a dynamically adjusted steering penalty factor used to suppress high-frequency steering in the path, and its value is corrected in real time according to the rate of change of steering angle and the density of obstacle distribution.

[0007] Furthermore, the value range of the steering penalty factor is as follows: .

[0008] Furthermore, the turning penalty factor is dynamically adjusted during the path planning process, including: During path planning, if the rate of change of the turning angle of the aircraft during the planned path is greater than the preset threshold for the rate of change of the turning angle, the turning penalty factor will be increased. During path planning, if the rate of change of the turning angle of the aircraft during the planned path is less than the preset threshold for the rate of change of the turning angle, the turning penalty factor is reduced.

[0009] Furthermore, the turning penalty factor is dynamically adjusted during the path planning process, and also includes: During path planning, if the obstacle density of the area traversed by the aircraft exceeds the preset obstacle density threshold, the turning penalty factor will be reduced. During path planning, if the obstacle density in the area traversed by the aircraft is less than the preset obstacle density threshold, the turning penalty factor is increased.

[0010] Furthermore, the improved bidirectional A The algorithm incorporates pheromone concentration iterative updates from the ant colony algorithm and employs a heuristic function to reduce redundant paths and turns, balancing global optimality and real-time performance. Specifically, the volatile coefficient during pheromone concentration iterative updates ranges from [value missing]. The heuristic function refers to the weighting of path length and number of turns.

[0011] Furthermore, the step of controlling the aircraft to fly along a predetermined trajectory and adjust its attitude based on the path planning results includes: The path is smoothed using B-spline Bezier curves to generate a smooth trajectory; a vector field is generated through vector field control to determine the desired heading angle; combined with real-time aircraft attitude feedback, the aircraft attitude data is obtained, and decoupled control of altitude and plane heading is performed through PID control to obtain the control signal; It outputs control signals in real time to ensure that the aircraft flies along the predetermined trajectory and makes attitude adjustments.

[0012] In another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the above-described method.

[0013] In another aspect, the present invention also provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the above method.

[0014] The beneficial effects of the technical solution provided by this invention include at least the following: The path planning and tracking method provided by this invention improves bidirectional A The algorithm incorporates a steering penalty factor and ant colony optimization pheromone iteration to improve path search efficiency. Combined with B-spline Bezier curve fitting and vector field control techniques, it solves the technical challenges of poor steering stability, insufficient adaptability to dynamic obstacles, and large path tracking errors in micro flapping-wing aircraft within confined spaces. This method supports real-time environment modeling, path planning for prototypes with different steering parameters, and high-precision closed-loop control, and can be applied to scenarios such as indoor reconnaissance and medical supply transportation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of the path planning and tracking method for a micro flapping-wing aircraft provided in an embodiment of the present invention; Figure 2 This is an improved bidirectional A provided by the embodiments of the present invention. Algorithm planning path diagram; Figure 3 This is a diagram illustrating the effect of vector field path tracking control provided in an embodiment of the present invention; Figure 4 This is a system block diagram of the electronic device provided in the embodiments of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0018] First, it should be noted that in the embodiments of the present invention, the words "exemplarily," "for example," etc., are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "exemplarily" is intended to present the concept in a specific manner. Furthermore, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either one or the other.

[0019] First Embodiment

[0020] To address the issues of unclear aerodynamic principles, complex flight control, and the problems of high-frequency turning, increased energy consumption, and decreased flight stability caused by traditional path planning in indoor autonomous flight missions of micro flapping-wing aircraft, as well as the lack of effective path planning and path tracking algorithms for flapping-wing aircraft trajectory tracking missions, this embodiment provides a method based on bidirectional A A path planning and tracking method for a micro flapping-wing aircraft based on algorithms and vector field control is presented. This method is applicable to path planning and tracking control in complex indoor environments. The method is implemented by electronic devices, which can be terminals or servers. The execution flow of this method mainly includes the following steps: S1 acquires the aircraft's starting position, target position, and environmental data to construct the flight environment in real time; like Figure 1 As shown, in this embodiment, the implementation process of S1 is as follows: acquiring the aircraft's starting position, target position, and environmental data, and then... The system constructs the flight environment in real time using dynamic raster maps. Specifically, it maps indoor spaces to dynamic raster maps, and... diameter The cylindrical obstacles are marked as impassable nodes by affixing reflective stickers, with the starting point being the location where the prototype was initially launched and the ending point being... high The wide metal square ring is also marked with reflective stickers, and the prototype, obstacles, and endpoint are all located through the motion capture system.

[0021] S2, for bidirectional A The algorithm is improved, and an improved bidirectional A is used in the constructed flight environment. The algorithm performs path planning; among which, for bidirectional A The algorithm improvements include: in bidirectional A A turning penalty factor is added to the cost function of the algorithm; and the turning penalty factor is dynamically adjusted during the path planning process. It should be noted that traditional The algorithm is prone to getting trapped in local optima in complex obstacle environments, and the excessive number of redundant turning points generated on the path leads to frequent turning by the micro ornithopter, resulting in increased energy consumption and decreased flight stability. Furthermore, static grid maps cannot update dynamic obstacle information in real time, requiring frequent path replanning. In contrast, the bidirectional A... The algorithm narrows the search space and reduces the number of nodes searched by starting the search simultaneously from the starting point and the target point until they meet, thus significantly improving path planning efficiency. This is especially true in obstacle-rich environments, where bidirectional A... The algorithm's search efficiency is significantly better than that of the traditional A algorithm. Algorithm. Furthermore, bidirectional A The algorithm also exhibits good adaptability, quickly generating paths in complex indoor environments, especially in environments with frequently changing dynamic obstacles. It can rapidly adapt and plan new paths, reducing the time spent on path replanning due to environmental changes. Therefore, bidirectional A... The algorithm is better suited to handle complex and dynamic environments in indoor autonomous flight missions of micro flapping-wing aircraft. Its efficient search characteristics and strong real-time performance make it an ideal choice for solving path planning problems.

[0022] Based on the above, this embodiment adopts an improved bidirectional A / B algorithm in the path planning stage after obtaining the two-dimensional map grid model. The algorithm incorporates pheromone concentration iterative updates and heuristic function design from the ant colony algorithm to balance global optimality and real-time performance. Specifically, the improved bidirectional A... The algorithm improves bidirectional A by adding a turning penalty factor to the valuation function. The algorithm has been improved, and an improved bidirectional A has been used. During the path planning process, the turning penalty factor is dynamically adjusted in real time to optimize path search efficiency. Specifically, the factor is dynamically adjusted according to the aircraft's turning sensitivity, which can effectively reduce the number and magnitude of turns in the path. In this way, in indoor obstacle scenarios, the prototype can be planned with the smoothest, most efficient, and least frequent large-scale turns, thereby reducing energy consumption and improving flight stability.

[0023] The dynamic adjustment mechanism of the steering penalty factor is an innovative technology in the path planning of this invention. The steering penalty factor aims to reduce unnecessary turns in path planning, especially in complex or confined indoor environments. Excessive turns not only increase energy consumption but also reduce the aircraft's flight stability. To address this, this invention introduces a steering penalty factor, which is not fixed but dynamically adjusted based on the aircraft's steering sensitivity and changes in the flight environment. The core idea of ​​this adjustment mechanism is to modify the penalty factor in real time based on the aircraft's actual steering feedback, thereby ensuring optimal and real-time path planning while reducing sharp turns in the path. Specifically, the adjustment of the steering penalty factor is determined by the aircraft's current rate of change of heading. If the aircraft's steering angle changes too much during path planning, the penalty factor increases, penalizing the turn and ensuring a smooth path; conversely, if the steering angle change is small, the penalty factor is relatively small, allowing for more natural turns. This mechanism, by combining the aircraft's real-time steering feedback, adjusts the degree of turning in the path, ultimately achieving efficient and stable flight. Furthermore, the dynamic adjustment of the steering penalty factor can also be optimized based on environmental changes during actual flight missions. For example, in complex obstacle environments (such as areas with dense obstacles), aircraft path planning may require more flexibility. In this case, the steering penalty factor can be appropriately relaxed to allow for more turns and more complex path shapes. Conversely, in more open areas, path planning tends to choose straight or less turning paths, and the steering penalty factor is increased to avoid unnecessary turns.

[0024] Based on the dynamic adjustment mechanism of the aforementioned turning penalty factor, the aircraft can flexibly adjust the turning penalty factor according to the actual environmental conditions in the path planning, thereby ensuring the optimal effect of path planning.

[0025] Improved bidirectional A The algorithm expands nodes forward from the starting point and backward from the ending point, prioritizing the node with the minimum cost function. The search terminates when the overlap between nodes in both directions is ≥70%. An eight-neighborhood search is used along the way to introduce a dynamic turning penalty parameter. Values Cost function f ( n )= g ( n )+ h ( n )+ α | θ ( n ) θ ( n 1) |, to suppress redundant steering, reducing steering amplitude by 25% compared to traditional algorithms, among which, g ( n () represents the distance from the starting position to the current node. n The actual movement cost (such as cumulative path length or energy consumption) is calculated using the physical distance of the explored path in the raster map; h ( n ) indicates starting from the current node n Heuristic cost estimation to the target location (such as Euclidean distance or Manhattan distance); θ ( n ) represents a node n The heading angle (in radians) at the current node is defined as the global coordinate system deflection angle of the line connecting the current node and the predecessor node. θ ( n 1) Represents the previous node n -1 heading angle; α This is a dynamically adjusted steering penalty factor used to suppress high-frequency steering in the path. Its value is corrected in real time based on the rate of change of steering angle and the density of obstacle distribution. The algorithm is optimized with reference to the ant colony algorithm, and is updated iteratively through pheromone concentration (evaporation coefficient). The improved bidirectional A* algorithm, along with heuristic functions (path length and turning number weights), further reduces redundant paths and turning counts, balancing global optimality and real-time performance. The algorithm first initiates the search process simultaneously from both the starting and ending points. The forward search gradually expands nodes from the initial position, while the reverse search extends backward from the target position, employing an eight-neighborhood node expansion strategy to cover more adjacent grids. Each time a node is expanded, the algorithm prioritizes calculating the comprehensive cost of the current node, which consists of the actual movement cost, heuristically estimated cost, and a turning penalty term. The turning penalty term dynamically adjusts its weight based on the angle difference between the aircraft's current heading and the heading of the previous node. When the rate of change of turning angle of adjacent nodes in the path exceeds a preset threshold, the penalty factor is automatically increased to suppress sharp turns; if entering an area with dense obstacles, the penalty factor is reduced to allow flexible obstacle avoidance. An ant colony algorithm pheromone update mechanism is introduced during the search process. Whenever a valid path is generated, pheromone is deposited on the path nodes. Subsequent searches prioritize path segments with high pheromone concentrations, while a pheromone evaporation coefficient is set to control the rate of decay of the influence of historical paths. The bidirectional search process continues to expand until the overlap of the explored areas in both directions reaches more than 70%. At this point, the bidirectional paths are merged, redundant nodes are removed, and a smooth, feasible path with optimized turning times is finally output. This mechanism achieves efficient search in complex environments by dynamically balancing path length and turning stability, while reducing the path oscillation problem caused by fixed parameters in traditional algorithms.

[0026] This embodiment utilizes an improved bidirectional A The path planned by the algorithm is as follows Figure 2 As shown.

[0027] S3, based on the path planning results, controls the aircraft to fly along a predetermined trajectory and adjusts its attitude.

[0028] It should be noted that, in terms of path tracking, this embodiment combines... Motion capture system and The wireless module acquires the aircraft's attitude data in real time, generates a smooth trajectory using B-spline curve fitting, and determines the desired heading angle through vector field control. Compared to traditional area-switching path tracking algorithms, this method is applicable to any path. Combined with smooth paths in path planning, it makes the prototype's flight more precise, further improving trajectory tracking accuracy and stability. Vector field control is one of the key technologies for achieving efficient path tracking. During path tracking, aircraft control involves more than just traveling along a predetermined path; it also involves ensuring a smooth transition between each control point on the path. Therefore, using B-spline Bézier curves can generate smooth paths, facilitating the handling of relationships between control points along the path. This ensures the aircraft can smoothly track the predetermined trajectory during mission execution. Based on path characteristics (such as path curvature, turning angle, and path density), the distribution of control points is optimized, improving the aircraft's motion stability, reducing the burden on the power system, extending battery life, and improving mission completion efficiency. The vector field control method guides the aircraft's heading by generating and adjusting the desired heading angle, ensuring the aircraft accurately tracks the target path throughout the entire trajectory.

[0029] Based on the above, such as Figure 1 As shown, the implementation process of S3 is as follows: The path is smoothed using B-spline Bezier curves to reduce redundant steering and improve flight stability; a vector field is generated to determine the desired heading angle; and real-time pose feedback is combined with... The system acquires the aircraft's attitude data and uses PID control to decouple altitude and horizontal heading. Ultimately, through... Real-time output of wireless module Control signals ensure that the aircraft flies precisely along the predetermined trajectory and makes necessary attitude adjustments.

[0030] Specifically, the entire path tracking method includes trajectory generation and vector field control. Trajectory generation uses B-spline Bézier curve fitting to convert discrete path points into multiple Bézier curves, generating a high-order, continuously differentiable, smooth trajectory. And generate a vector field to determine the desired heading angle. .

[0031] Vector field control includes an X-wing flapping-wing aircraft as the controlled object, a motion capture system for feeding back the real-time position and attitude of the flapping-wing aircraft, and a system for calculating the desired vector field angles, altitudes, and heading angles of the prototype. A host computer system that outputs and sends control signals.

[0032] The motion capture system consists of 14 Infrared cameras and switches and The motion capture software consists of a camera with a frame rate of 240Hz to ensure that the prototype can capture position and attitude information in a timely manner during flight. The camera is connected to a switch via a network cable, and the switch is connected to a computer to transmit infrared images. The captured images are processed in the Motive software to calculate the position of the prototype's marker points. The position and attitude quaternions of the prototype's rigid body can be calculated using the pre-calibrated rigid body data of the prototype.

[0033] The host computer system is mainly responsible for calculating the target angle in the vector field and Calculations. The host computer is written in C++, and the target trajectory needs to be set in the program. The host computer process and... The software performs inter-process communication, from The software acquires the position and attitude of the prototype rigid body. The trajectory tracking method of this invention is designed for complex trajectories in three-dimensional space, decomposing the trajectory tracking in three-dimensional space into two parts, one of which is... Axis height tracking control, part of which is Two-dimensional planar trajectory tracking control, in terms of height control, involves using the data obtained from motion capture software. Axis height and trajectory Subtract the desired axis height, then input the height. The controller receives the output control quantity and then converts it into the prototype motor's output. The value is calculated on the plane control to obtain the current position of the prototype at the desired angle, and then the value is called. The controller function takes the difference between the target angle and the current actual angle and inputs it into the controller to calculate the result. The control quantity is then converted into the servo motor on the prototype. The value is continuously updated in the vector field to complete the tracking of the entire trajectory. The motor value is calculated on the host computer. and servo Values ​​are connected via serial port. The communication module connects to the communication module on the prototype, thereby enabling communication between the host computer and the prototype. The wireless module receives real-time pose data and calculates the lateral error using the following formula. and the deflection angle of the drive rudder Experiments verified that the tracking error stabilized at Within.

[0034]

[0035] Vector fields essentially guide an aircraft along a predetermined trajectory by defining control vectors (velocity vector and heading angle) at each point on the path. When designing a vector field, the aircraft's position and attitude are changed through control inputs. The vector field control method designed in this invention is designed for complex trajectories, used to track complex trajectories in three-dimensional space. For the flapping-wing aircraft used in this invention, the actuators mainly involve motors controlling wing flapping and servos controlling tail rudder oscillation. During flight, the motor motion provides lift to the prototype, thereby controlling the prototype's altitude change. Due to its aerodynamic characteristics, the prototype will slowly move forward during flight. The servos and tail rudder mainly provide yaw torque to the prototype, thereby controlling its orientation. Therefore, the prototype's altitude... and In a two-dimensional plane, the orientation and the two controlled variables are inherently decoupled. Therefore, when designing the vector field control algorithm, this characteristic of the prototype is addressed by decomposing the control into height... and Two parts on the plane, height Using the height of the 3D trajectory as the target value, The control algorithm controls the motor independently. Throttle value, the final path tracking control effect is as follows Figure 3 As shown.

[0036] In summary, this embodiment provides a bidirectional A-based A path planning and tracking method for a micro flapping-wing aircraft based on algorithm and vector field control is presented. Experiments show that this method can meet the following indicators: Path planning: Generate a collision-free path within 0.5 seconds, with smooth turning paths and minimizing high-frequency large-amplitude rapid changes of direction; Trajectory tracking: Lateral tracking error ≤5cm, longitudinal error ≤10cm; Real-time control cycle ≤50ms, adaptable to flight speed ≥2m / s.

[0037] Second Embodiment

[0038] This embodiment provides an electronic device, such as... Figure 4 As shown, the electronic device includes a processor and a memory; wherein the processor and the memory can be connected via a communication bus; the memory stores at least one instruction, which is loaded and executed by the processor to implement the method of the first embodiment described above. Furthermore, the electronic device may also include a transceiver, the processor and the transceiver can be connected via a communication bus, and the transceiver is used to communicate with other devices.

[0039] Below, in conjunction with Figure 4 A detailed introduction to each component of this electronic device is provided below: The processor is the control center of the electronic device. The electronic device may include multiple processors, each of which can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The term "processor" can refer to a single processor or a collective term for multiple processing elements. For example, a processor can be one or more central processing units (CPUs), other general-purpose processors, application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), one or more field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor can perform various functions of the electronic device by running or executing software programs stored in memory and by calling data stored in memory.

[0040] In a specific implementation, as one example, the processor may include one or more CPUs, for example... Figure 4 CPU0 and CPU1 shown are, of course, merely illustrative examples.

[0041] The memory is used to store the software program that executes the solution of the present invention, and the processor controls its execution. For specific implementation methods, please refer to the above method embodiments, which will not be repeated here.

[0042] Optionally, the memory may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may be integrated with the processor or exist independently, and may be accessed through the interface circuit of the electronic device ( Figure 4 (Not shown in the image) is coupled to the processor; however, this embodiment of the invention does not impose specific limitations on this.

[0043] The transceiver may include a receiver and a transmitter. Figure 4 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function. The transceiver can be integrated with the processor or exist independently, and can be connected through the interface circuit of the electronic device (…). Figure 4 (Not shown in the image) is coupled to the processor, and this embodiment of the invention does not specifically limit this.

[0044] In addition, it should be noted that, Figure 4 The structure of the electronic device shown is not intended to limit the device. Actual devices may include more or fewer components than shown, or combine certain components, or have different component arrangements. Furthermore, the technical effects achieved by this electronic device when performing the method of the first embodiment described above can be referenced to the technical effects described in the first embodiment; therefore, they will not be repeated here.

[0045] Third Embodiment

[0046] This embodiment provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the method of the first embodiment described above. The computer-readable storage medium may be a ROM, random access memory, CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc. The instruction stored therein can be loaded and executed by a processor in a terminal.

[0047] Furthermore, it should be noted that the present invention can be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention can take the form of a completely or partially hardware embodiment, a completely or partially software embodiment, or an embodiment combining software and hardware aspects. Moreover, when implemented in software, embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any usable medium accessible to a computer or a data storage device such as a server or data center containing one or more sets of usable media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive (SSD).

[0048] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0049] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0050] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element. Furthermore, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Additionally, the character " / " in this text generally indicates an "or" relationship between the preceding and following objects, but it can also indicate an "AND / OR" relationship. Please refer to the context for specific interpretations. "At least one" refers to one or more items, while "more than" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can be represented as: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0051] Furthermore, it is understood that in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0052] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0053] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of functional modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs. Additionally, the functional units in the various embodiments of this invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0054] If the method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0055] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. It should be pointed out that although preferred embodiments of the present invention have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make several improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

Claims

1. A path planning and tracking method for a micro flapping-wing aircraft, characterized in that, include: Acquire the aircraft's starting position, target position, and environmental data to construct the flight environment in real time; For bidirectional A The algorithm is improved, and an improved bidirectional A is used in the constructed flight environment. The algorithm performs path planning; in For bidirectional A The algorithm improvements include: in bidirectional A A turning penalty factor is added to the cost function of the algorithm; and the turning penalty factor is dynamically adjusted during the path planning process. Based on the path planning results, the aircraft is controlled to fly along a predetermined trajectory and its attitude is adjusted.

2. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, The acquisition of the aircraft's starting position, target position, and environmental data, and the real-time construction of the flight environment, includes: The system acquires the aircraft's starting position, target position, and environmental data, maps the space in which the aircraft is located into a dynamic grid map, and completes the construction of the flight environment. Among them, obstacles are marked as impassable nodes by affixing reflective stickers. The starting point is the aircraft's starting position, and the ending point is the aircraft's target position, with reflective stickers also affixed to the ending point. The aircraft, obstacles, and ending point are all located through a preset motion capture system.

3. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, Improved bidirectional A Algorithm cost function f ( n ) is represented as: f ( n )= g ( n )+ h ( n )+ α ∣ θ ( n ) θ ( n 1)∣ in, g ( n () represents the distance from the starting position to the current node. n The actual cost of movement; h ( n ) indicates starting from the current node n Heuristic cost estimation to the target location; θ ( n ) represents a node n The heading angle at that point; θ ( n 1) Represents the previous node n -1 heading angle; α This is a dynamically adjusted steering penalty factor.

4. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, The value range of the steering penalty factor is: .

5. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, The turning penalty factor is dynamically adjusted during the path planning process, including: During path planning, if the rate of change of the turning angle of the aircraft during the planned path is greater than the preset threshold for the rate of change of the turning angle, the turning penalty factor will be increased. During path planning, if the rate of change of the turning angle of the aircraft during the planned path is less than the preset threshold for the rate of change of the turning angle, the turning penalty factor is reduced.

6. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 5, characterized in that, The turning penalty factor is dynamically adjusted during the path planning process, and also includes: During path planning, if the obstacle density of the area traversed by the aircraft exceeds the preset obstacle density threshold, the turning penalty factor will be reduced. During path planning, if the obstacle density in the area traversed by the aircraft is less than the preset obstacle density threshold, the turning penalty factor is increased.

7. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, Improved bidirectional A The algorithm incorporates pheromone concentration iterative updates from the ant colony algorithm and employs a heuristic function to reduce redundant paths and turns, balancing global optimality and real-time performance. Specifically, the volatile coefficient during pheromone concentration iterative updates ranges from [value missing]. The heuristic function refers to the weighting of path length and number of turns.

8. The path planning and tracking method for a micro flapping-wing aircraft as described in claim 1, characterized in that, The process of controlling the aircraft to fly along a predetermined trajectory and adjusting its attitude based on path planning results includes: The path is smoothed using B-spline Bezier curves to generate a smooth trajectory; a vector field is generated through vector field control to determine the desired heading angle; combined with real-time aircraft attitude feedback, the aircraft attitude data is obtained, and decoupled control of altitude and plane heading is performed through PID control to obtain the control signal; It outputs control signals in real time to ensure that the aircraft flies along the predetermined trajectory and makes attitude adjustments.

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