Three-dimensional spatial path planning method based on dynamic spherical window

Abstract

The invention discloses a three-dimensional spherical path planning method based on a dynamic spherical window. The method comprises the steps of performing filtering integration based on environmentinformation sensing through a sensor, and furthermore converting to a spatial grid map; establishing a dynamic spherical window model, performing dynamic sampling on the inner part and the surface ofa sphere for obtaining local candidate target points; establishing a uniform evaluation function, performing optimization screening on the candidate points according to the evaluation function; and performing successive approximation to a destination through the local target points until arriving at the destination. The three-dimensional spatial path planning method can be applied to a quick pathplanning problem of an unmanned aerial vehicle / unmanned underwater vehicle in a three-dimensional space. High freedom in the three-dimensional space is sufficiently considered, and the no-collision three-dimensional path with considered safety and efficiency can be quickly obtained.

Description

technical field [0001] The invention relates to three-dimensional space environment perception modeling and path planning technology, in particular to a method for fast path planning in three-dimensional space based on a dynamic spherical window. Background technique [0002] Path planning technology is a key technology necessary for unmanned systems such as robots and UAVs to be put into practical applications. With the continuous breakthrough of the current sensor technology, the speed and accuracy of environmental perception are also continuously improved. On this basis, the path planning of the unmanned system can be carried out more accurately and safely. [0003] The purpose of path planning is to find an optimal or suboptimal collision-free path from the starting point to the target point according to a certain evaluation index in an environment with obstacles. Existing technologies can be roughly divided into two categories: global path planning and local path plann...

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Problems solved by technology

[0008] The core idea of ​​the above technical route is to project the three-dimensional space downward to obtain a two-dimensional grid map. This method can indeed quickly obtain a feasible collision-free path under normal circumstances, but it is inevitable that there are paths in the three-dimensional space but in the Cases where valid results cannot be obtained in two dimensions

In addition, the essence of this method is that the degree of freedom in the vertical direction of the three-dimensional space is ignored, and the actual application range is limited. In addition, the advantages of flexible maneuvering of unmanned systems such as drones and submersibles disappear, and satisfactory results cannot be obtained. the result of

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