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Obstacle avoidance method and system for unmanned aerial vehicle

An unmanned aerial vehicle and obstacle avoidance technology, applied in the field of unmanned aerial vehicles, can solve the problems of insufficient obstacle avoidance and low obstacle avoidance accuracy of unmanned aerial vehicles, and achieve high accuracy, high degree of intelligent obstacle avoidance, flight Path accurate effect

Active Publication Date: 2018-06-29
WUHAN HAOAO AVIATION TECH CO LTD
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Problems solved by technology

[0003] At present, the research on UAV obstacle avoidance is still in the basic stage, and many theoretical and technical problems need to be studied and solved. The accuracy of UAV obstacle avoidance is not high, and the obstacle avoidance is not intelligent enough.

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  • Obstacle avoidance method and system for unmanned aerial vehicle

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0022] The invention provides a method for avoiding obstacles of an unmanned aerial vehicle, comprising:

[0023] S1. After the millimeter-wave radar detects an obstacle in front, the UAV uses the front camera to take a video image of the obstacle;

[0024] S2. Analyze the type of obstacle according to the video image of the obstacle, and comprehensively analyze the shape of the obstacle and the distance between the obstacle and the drone according to the video image of the obstacle and the detection results of the millimeter wave radar;

[0025] S3. Construct a grid map containing obstacle depth ...

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Abstract

The invention discloses an obstacle avoidance method and system for an unmanned aerial vehicle. The method comprises the following steps: after a front barrier is detected by virtue of a millimeter wave radar, photographing a video image of the barrier by virtue of a front-facing camera of the unmanned aerial vehicle; analyzing the type of the barrier according to the video image of the barrier, and comprehensively analyzing the shape of the barrier and the distance from the barrier to the unmanned aerial vehicle according to the video image of the barrier and a detection result of the millimeter wave radar; drawing a raster map according to the shape of the barrier and the distance from the barrier to the unmanned aerial vehicle, planning a flight path on the raster map by virtue of an A-Star algorithm, and adjusting the flight path according to a safe radius; and enabling the unmanned aerial vehicle to fly according to the flight path, and avoiding or traversing the barrier. The obstacle avoidance method has the beneficial effects that the shape and type of the barrier and the distance from the barrier to the unmanned aerial vehicle are acquired by virtue of the front-facing camera and the millimeter wave radar, so that the detection of the barrier is relatively accurate and comprehensive, the obstacle avoidance accuracy of the unmanned aerial vehicle is high, the automatic obstacle avoidance of the unmanned aerial vehicle can be realized, and the intelligent obstacle avoidance level is high.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an obstacle avoidance method and system for an unmanned aerial vehicle. Background technique [0002] With the rapid development of aviation technology, the use of drones in the military and civilian fields continues to expand, and the flight range and running time of drones have doubled. It is an inevitable trend for drones to fly with manned aircraft. But at the same time, flight conflicts and safety issues between UAVs and manned aircraft are becoming increasingly prominent, and the UAV obstacle avoidance system is the key to solving this problem. [0003] At present, the research on UAV obstacle avoidance is still in the basic stage, and many theoretical and technical problems need to be studied and solved. The accuracy of UAV obstacle avoidance is not high, and the obstacle avoidance is not intelligent enough. Contents of the invention [0004] The purpos...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 蔡晓东黄毅胡国威何力波
Owner WUHAN HAOAO AVIATION TECH CO LTD
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