UAV Flight Direction Control for Real-Time Obstacle Avoidance
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Solution Overview
Problem
Current path planning algorithms for unmanned aerial vehicles (UAVs) are inadequate for dynamic obstacle avoidance, as they cannot continuously change the flight trajectory in real time, making it difficult to ensure safe flight in complex environments.
Innovation Solution
A flight control method and apparatus for UAVs that involve obtaining obstacle positions and orientations, calculating push-pull coefficients for obstacles, determining a target position and orientation, calculating a baton coefficient, and adjusting the flight direction based on these calculations to effectively avoid static or dynamic obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a path planning algorithm is used to plan a trajectory within a preset time period, then the unmanned aerial vehicle can effectively avoid static obstacles, but it cannot continuously change the flight trajectory in real time to avoid dynamic obstacles
Solution Approach 1:
The patent transforms the static path planning algorithm into a dynamic control system by introducing a repulsion field that continuously changes based on obstacle position and velocity. The flight trajectory is no longer fixed but dynamically adjusted in real-time through the repulsion force calculation, enabling the UAV to adapt to both static and dynamic obstacles.
Solution Approach 2:
The system implements real-time feedback by continuously monitoring obstacle position, velocity, and orientation, then calculating the repulsion force accordingly. This closed-loop control allows the UAV to respond to changing environmental conditions and adjust its trajectory dynamically, resolving the limitation of open-loop path planning.
2Reliability
If a complex path planning algorithm is implemented to handle dynamic obstacles, then the unmanned aerial vehicle can avoid dynamic obstacles, but the system complexity increases significantly
Solution Approach 1:
The patent introduces a repulsion field as an intermediary mechanism between the obstacle detection system and the flight control system. This field-based approach simplifies the control logic by using physical field concepts rather than complex algorithmic path planning, reducing computational burden while maintaining effective dynamic obstacle avoidance.
Solution Approach 2:
The system changes the control parameters dynamically by adjusting the repulsion force magnitude and direction based on obstacle characteristics (position, velocity, orientation). This parameter-based control approach is simpler than implementing complex path planning algorithms while achieving the same goal of dynamic obstacle avoidance.
Data Source
AI summary
Embodiment of the present invention are a flight control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The flight control method for an unmanned aerial vehicle includes: obtaining an obstacle position and an obstacle orientation of each obstacle within a preset range around the unmanned aerial vehicle; calculating a push-pull coefficient of each obstacle relative to the unmanned aerial vehicle according to the obstacle position of each obstacle; obtaining a target position and a target orientation of the unmanned aerial vehicle; calculating a baton coefficient of the target position relative to the unmanned aerial vehicle according to the target position; and adjusting a flight direction of the unmanned aerial vehicle according to the baton coefficient, the target orientation, the push-pull coefficient of each obstacle relative to the unmanned aerial vehicle, and the obstacle orientation.