一种低空物流无人机集群自适应航线规划与避障方法
By identifying flight path segments and generating detour paths under airspace constraints, combined with mission relay decision-making, the problem of mission interruption in UAV swarms under dynamic airspace constraints is solved, improving mission continuity and timeliness.
CN121806996BActive Publication Date: 2026-07-17XIAN HANGPU ELECTRONICS CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIAN HANGPU ELECTRONICS CO LTD
- Filing Date
- 2026-03-10
- Publication Date
- 2026-07-17
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Figure CN121806996B_ABST
Abstract
本发明公开了一种低空物流无人机集群自适应航线规划与避障方法，涉及航线规划技术领域，用于解决在局部限飞区或临时管控空域条件下容易出现任务中断或整体返航的问题，通过对空域管控信息进行结构化解析，结合无人机航线控制点数据，对航线进行受限航段与可执行航段的精确划分，通过路径搜索算法为受限航段生成最短绕飞路径，并基于可执行航段预测无人机的任务剩余执行时间，对于不具备绕飞优势的无人机，触发任务接力决策，通过综合分析非标记无人机的飞行距离、能耗余量及任务延误影响，选择最优节点接管末端航段任务，从而避免整体返航或任务中断，能够在复杂空域条件下显著提升无人机集群的任务连续性与物流时效。
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