The invention discloses a vision-based indoor unmanned aerial vehicle path
planning method, which comprises the following steps of: firstly, constructing a
point cloud map, and then carrying out
point cloud filtering and downsampling to improve the precision of the
point cloud map; then constructing an
octree map and an exploration map, and carrying out
terrain value calculation; then planning a real-
time path, finally forming an exploration map required by the real-
time path planning through the construction of the map, and ensuring the
correctness of a path planning
algorithm through the conversion of the position and the path point of the unmanned aerial vehicle between a navigation coordinate
system and an exploration map coordinate
system; and finally, conducting real-
time path smoothing. The method has the advantages of small calculation amount, high real-time performance, capability of unknown environment exploration and path planning at the same time and the like. Precise local path planning can be carried out in an explored area, and global path direction guidance can be carried out in an unexplored area; and
rapid response to sudden obstacles can be realized.