Path planning method and path planning device

Abstract

An embodiment of the invention relates to the technical field of electronic information and discloses a path planning method and a path planning device. The path planning method comprises steps as follows: a path planning model of flight paths is established according to obtained positions of all to-be-monitored areas, required monitoring precision and the number of UAVs (unmanned aerial vehicles), and the path planning model comprises time used by the UAVs for completing the flight paths and an objective function of monitoring time of the UAVs at space joints; an initial solution of the pathplanning model is generated through deduction based on a first default algorithm; an optimal solution of the path planning model is generated through deduction of the initial solution and the path planning model based on a second default algorithm, and the optimal solution represents the shortest monitoring time of the UAVs completing monitoring tasks for the to-be-monitored areas. According to the path planning method and the path planning device, the flight paths of the UAVs are solved by establishing the mathematical planning model, and sequence and height of the space joints accessed by the UAVs for completing the monitoring tasks are taken into consideration by the model simultaneously.

Description

Technical field [0001] The embodiment of the present invention relates to the field of electronic information technology, and in particular to a path planning method and a path planning device. Background technique [0002] Unmanned aerial vehicle (UAV, Unmanned Aerial Vehicle), usually called drone, loads different image sensors on the UAV so that the drone can capture the target image, and the acquired target image can be transmitted wirelessly on the UAV The system is transmitted to the control station in real time. For example, drone equipment can be used to monitor the water environment, traffic flow, and oil pipelines. In addition, due to the development of aviation, microelectronics, computers, navigation, communications, sensors and related technologies, the performance of UAVs has been continuously improved, which makes UAVs have more advantages when using UAVs as monitoring means, for example, the ability to observe more extensive The area includes an area covering 300...

AI Technical Summary

Problems solved by technology

[0003] The inventors have found that there are at least the following problems in the prior art: the maximum flight time of existing UAVs is limited. If a monitoring task needs to stay at least one space node, the flight route of the UAV needs to be planned. The accuracy level of monitoring at different heights is different, so the method of UAV route planning also determines the position and height of the spatial nodes traversed by the UAV to complete the monitoring task, which is different from the well-known vehicle path planning

Existing commercial integer linear programming solvers can only give accurate solutions for small-scale models within a reasonable time when solving UAV route planning models. As the solution scale increases, it takes longer because for The model under the large-scale instance cannot give the optimal solution of the path in the shortest time

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