Island region unmanned aerial vehicle sweeping trajectory generation and speed planning method and system

Abstract

The invention provides an island region unmanned aerial vehicle sweeping trajectory generation and speed planning method and system. The method includes the following steps that: a partial differential equation is built according to given regional boundary conditions, a finite element or difference method is adopted to solve the equation; a group of closed curves is obtained according to a constraint that distances between adjacent closed equivalent curves is smaller than the sweeping diameter of an unmanned aerial vehicle; the closed curves are equally divided according to length, and transition line segments and a transition curve point sequence are constructed in turn; the transition curve point sequence is regenerated according to a predetermined interval, the least square method is adopted to realize approximation, and a cubic spline curve is generated through using a De Boor method, so that the sweeping trajectory of the unmanned aerial vehicle is obtained; the speed of the unmanned aerial vehicle is planned optimally, a speed enabling shortest flying time is obtained; speed and position information is transformed into time sequence information through curve interpolation; and the speed of the unmanned aerial vehicle at a starting and ending point are re-planned according to the mean jerk of three sections. With the method and system of the invention adopted, the island sweeping problem of the unmanned aerial vehicle can be solved. The island region unmanned aerial vehicle sweeping trajectory generation and speed planning method and system have the advantages of smallamplitude of the change of postures, high tracking performance, high applicability and the like.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and system for generating sweeping trajectory and speed planning of an unmanned aerial vehicle in an island area based on partial differential equations. Background technique [0002] Sweeping an area for inspection, spraying, etc. is an important application of drones. UAVs have the characteristics of small size, low cost, and simple operation, but they also have disadvantages such as poor stability and weak endurance, especially when performing tasks in sweeping areas. At present, UAVs have achieved relatively mature research results in artificially given path generation, but for sweeping complex area trajectory automatic generation and speed planning, more traditional methods are still used. The more commonly used traditional method is ZIG-ZAG, which generates a path by connecting a group of parallel line segments. In this way, the at...

AI Technical Summary

Problems solved by technology

In this way, the attitude of the UAV changes frequently, the tracking performance is slightly reduced, and the applicability to the island problem is low.

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