Autonomous flight path planning method for small-sized unmanned aerial vehicle

Abstract

The invention discloses an autonomous flight path planning method for a small-sized unmanned aerial vehicle. The method comprises the following steps that: S1, GPS positioning is carried out: the GPSof a four-axis aircraft is adopted to locate the position of the small-sized unmanned aerial vehicle; S2, an improved A-Star algorithm is used as a flight path planning algorithm to achieve the flightpath tracking of the small-sized unmanned aerial vehicle; S3, an ant colony evolution algorithm is adopted to optimize feasible flight paths: a flight path calculated by the improved A-Star algorithmin the S2 is inputted to the ant colony algorithm, and the ant colony algorithm optimizes the feasible flight paths and calculates a shortest flight path; and S4, post-processing is performed on an optimal flight path: all flight path points on the same line are summarized into a straight line segment containing a head end point and a tail end point. A traditional small-sized unmanned aerial vehicle is controlled by a remote control device, the movement range of the small-sized unmanned aerial vehicle is easily limited to the sight distance range of a controller, and as a result, the autonomous flight of the small-sized unmanned aerial vehicle cannot be realized, and the small-sized unmanned aerial vehicle cannot have a wider movement range, while, with the method of the invention adopted, the above problem can be solved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for autonomous track planning of small unmanned aerial vehicles. Background technique [0002] Prior art unmanned aircraft is referred to as " unmanned aerial vehicle ", is the unmanned aircraft that utilizes radio remote control equipment and self-contained program control device to manipulate. There is no cockpit on board, but equipment such as autopilot and program control device are installed. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. Under the radio control, it can take off like an ordinary aircraft or be launched into the air with a booster rocket, and it can also be taken into the air by the parent aircraft for flight. When recovering, it can automatically land in the same way as the comm...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a small UAV autonomous track planning method, which has the advantages of making the small UAV fly in a wide range and can fly autonomously, and solves the problem that the traditional small UAV is controlled by a remote control device, and the range of activities is difficult. It is limited to the range of sight of the controller, so it is impossible to realize the autonomous flight of small UAVs, and it is impossible to make small UAVs have a wider range of activities

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