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Unmanned aerial vehicle obstacle avoidance controlling method

A control method and unmanned aerial vehicle technology, applied in the direction of three-dimensional position/channel control, etc., to reduce the probability of collision with obstacles, improve safety, and be easy to implement

Inactive Publication Date: 2013-05-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] To sum up, the existing UAV obstacle avoidance method is not very effective for UAV low-altitude operation, and there are still many practical problems to be solved.

Method used

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  • Unmanned aerial vehicle obstacle avoidance controlling method
  • Unmanned aerial vehicle obstacle avoidance controlling method
  • Unmanned aerial vehicle obstacle avoidance controlling method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Embodiment 1: as figure 1 , UAV obstacle avoidance control system based on columnar space planning constraints, with UAV subsystem 1 and ground station subsystem 2; UAV subsystem 1 includes embedded flight controller 3 and airborne terminal 4 of wireless data link , the embedded flight controller 3 has a built-in satellite positioning receiver 7 and a height sensor 8; the ground station subsystem 2 includes an embedded monitoring computer 5 and a ground terminal 6 of a wireless data link, and the embedded monitoring computer 5 has a built-in monitoring system that contains geographic information of obstacles electronically Figure 9 The embedded flight controller 3 is connected with the airborne terminal 4 of the wireless data link by a serial bus, the embedded monitoring computer 5 is connected with the ground terminal 6 of the wireless data link by a serial bus, and the airborne terminal 4 of the wireless data link is connected with the wireless data link The ground ...

Embodiment 2

[0051] Embodiment 2: as Figure 4 As shown, for an obstacle with an arc-shaped boundary, the two-dimensional geographical boundary of the obstacle is surrounded by N straight line segments to form a closed boundary contour line 14, the method is as follows:

[0052] ① The operator operates on the built-in two-dimensional Figure 9 Manual operation above, for a straight line boundary, directly take the straight line segment corresponding to the boundary;

[0053] ② For the convex arc boundary, select multiple feature points on the arc boundary including the start and end points of the arc boundary. The number of points and positions are selected by the ground operator according to the size of the arc. 3. The positions are evenly distributed, and the larger the arc, the more points; this embodiment takes 5 feature points, that is, X 1 ~X 5 ; Make an arc tangent line along each feature point, two adjacent tangent lines intersect to form an intersection point, and obtain multip...

Embodiment 3

[0057] Embodiment 3: as Figure 5 As shown, for a circular obstacle, the obstacle avoidance boundary is set for the outer boundary and inner boundary of the circular obstacle respectively. Figure 5 Among them, 10 is an obstacle, 15 is the contour line of the inner boundary, and 16 is the contour line of the outer boundary, and the setting method of the obstacle avoidance boundary 19 of the outer boundary is the same as that of Embodiment 1 and Embodiment 2, among which V 1 ~V 16 is the vertex.

[0058] The method of determining the obstacle avoidance boundary of the inner boundary is as follows: for a straight line boundary, directly take the straight line segment corresponding to the boundary; for a convex arc boundary, select multiple The feature points, points and positions are selected by the ground operator according to the arc size. In general, the points are ≥ 3, and the positions are evenly distributed, and the larger the arc, the more points; this embodiment takes ...

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Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance controlling method. An unmanned aerial vehicle subsystem and a ground station subsystem are arranged, the unmanned aerial vehicle subsystem comprises an embedded flight controller and an airborne terminal of a wireless data chain, a satellite positioning receiver and a height sensor are arranged in the embedded flight controller, the ground subsystem comprises an embedded monitoring computer and a ground terminal of the wireless data chain, and an electronic map containing geographic information of obstacles is arranged in the embedded monitoring computer. On the electronic map in the embedded monitoring computer of the ground station subsystem, the geographic information of the obstacles in a flight area is determined, virtual obstacle polygonal cylinders are established, shape data of the virtual obstacle polygonal cylinders are downloaded in the embedded flight controller which obtains the current position of the unmanned aerial vehicle and calculates space correlation between the unmanned aerial vehicle and the obstacle polygonal cylinders, track-shifting instruction of the unmanned aerial vehicle is generated, and automatic obstacle avoidance of the unmanned aerial vehicle is realized.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to an obstacle avoidance control method for unmanned aerial vehicles, which can be widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, terrorism prevention and lifesaving, military reconnaissance, battlefield areas of evaluation. Background technique [0002] Research on UAV control technology is one of the hot spots that universities and research institutions at home and abroad are paying attention to. In the past ten years, drones have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, terrorism and lifesaving, military reconnaissance, battlefield assessment, etc. Insufficient, reduce purchase and maintenance costs, improve the safety of delivery vehicles. [0003] When drones operate in the air,...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 杨忠李少斌谢婷婷徐华东王世勇黄宵宁杨轻杨成顺梁焜陈阳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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