UAV Path Planning Under Turn Angle and Radio Coverage Constraints
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Solution Overview
Problem
Conventional aerial path planning methods face challenges in maintaining data transmission continuity for UAVs through radio coverage holes and require extensive preprocessing for turn constraints, leading to data loss and increased processing time.
Innovation Solution
The method discretizes the 3D Euclidean navigation space using a grid and modifies the Theta* algorithm to incorporate turn angle constraints, employing a greedy backtracking strategy to ensure continuous data transmission and minimize processing time, even in the presence of coverage holes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If conventional aerial path planning methods are used, then data transmission can be maintained, but processing time increases due to extensive preprocessing for turn constraints
Solution Approach 1:
The patent pre-calculates and stores turn angle constraints during path generation, rather than performing extensive preprocessing during execution. The Theta* algorithm is modified beforehand to incorporate turn angle checks, reducing real-time processing requirements while maintaining constraint compliance
Solution Approach 2:
The patent changes the parameter representation by using discretized turn angles and pre-computed constraint tables. Instead of continuous geometric calculations during path planning, the system uses discrete parameter checks that are computationally lighter and can be prepared in advance
2Length of stationary object
If UAVs pass through coverage holes to maintain path efficiency, then distance cost is reduced, but data transmission continuity is lost
Solution Approach 1:
The patent incorporates feedback mechanisms where the path planning system receives information about radio coverage hole locations and dynamically adjusts paths to avoid these areas. The system continuously monitors coverage availability and modifies the planned trajectory to maintain connectivity, balancing path efficiency with transmission reliability
Solution Approach 2:
The patent introduces an intermediary layer that mediates between the optimal geometric path and radio coverage constraints. This intermediary path planning module acts as a buffer, transforming the raw optimal path into a modified path that avoids coverage holes while minimizing detour, thus maintaining both efficiency and reliability
3Stability of the object's composition
If turn angle constraints are enforced to maintain smooth aerial paths, then path smoothness is improved, but processing complexity increases
Solution Approach 1:
The patent pre-calculates turn angle constraints and stores them in lookup tables during path generation. Instead of performing complex geometric calculations for each turn during real-time planning, the system uses pre-computed constraint data, reducing processing complexity while maintaining smooth path enforcement
Solution Approach 2:
The patent transforms continuous turn angle constraints into discrete parameter checks. By representing turn angles as discrete values and using threshold-based validation, the system maintains path smoothness requirements while significantly reducing the computational complexity of constraint processing
Data Source
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AI summary
The present disclosure provides systems and methods that ensure transmission continuity of data from aerial vehicles even in presence of radio coverage holes by turn angle constrained path planning. Technical problems faced in employing conventional methods include challenges in storing captured data on board due to size of the data; transmitting the captured data resulted in loss of data when the aerial vehicle passed through coverage holes. Furthermore, a lot of preprocessing was involved for turn constraint in the conventional methods. The methods of the present disclosure use a minimal greedy backtracking strategy to satisfy the turn angle constraint. The technical problem is treated as a discrete optimization problem that works over discretized version of Euclidean navigation space for tractability and a greedy heuristic algorithm is provided to keep discretization error in control. Limited backtracking decreases process time and works effectively in presence of coverage holes.