A method, device, electronic equipment and storage medium for unmanned aerial vehicle flight obstacle avoidance

Abstract

The embodiments of the invention disclose an unmanned aerial vehicle flight obstacle avoidance method, an unmanned aerial vehicle flight obstacle avoidance device, an electronic device and a storage medium. The method includes the following steps that: point cloud observation data collected by an unmanned aerial vehicle are acquired, wherein the point cloud observation data comprise spatial pointcloud data and the attitude information of the unmanned aerial vehicle corresponding to the acquisition time point of the spatial point cloud data; motion trajectories under preset selectable motion strategies are predicted according to the current attitude information of the unmanned aerial vehicle and the selectable motion strategies; probabilities that obstacles exist in each predicted motion trajectory are calculated according to the point cloud observation data and the motion trajectories; and a target motion strategy is selected according to the probabilities that the obstacles exist ineach predicted motion trajectory so as to be adopted to control the movement of the unmanned aerial vehicle. With the unmanned aerial vehicle flight obstacle avoidance method, the unmanned aerial vehicle flight obstacle avoidance device, the electronic device and the storage medium of the invention adopted, the movement of the unmanned aerial vehicle can be predicted in real time in a flying process, and probabilities that the obstacles exist in the predicted paths are calculated; and the movement strategies are further adjusted according to the probabilities of the existence of the obstacles,so that the unmanned aerial vehicle can fly smoothly at a high speed when avoiding obstacles.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method, device, electronic equipment and storage medium for avoiding obstacles during flight of unmanned aerial vehicles. Background technique [0002] At present, UAVs usually fly according to the route planned by the mission planning system in flight operations. The waypoints in the route are often the inflection points of the flight route or the operation points where operations need to be performed, and the flight between two waypoints is often limited. There are certain requirements, such as flight speed requirements. The UAV needs to fly according to the preset route, and between two waypoints, try to fly in a straight line at the required speed. In industrial applications, the operating environment of UAVs is relatively complex. Although large obstacles can be avoided during route design in the mission planning stage, there are inevitably obstac...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a UAV flight obstacle avoidance method, device, electronic equipment and storage medium, which solves the problem of low maneuverability and efficiency of UAV obstacle avoidance flight in the prior art

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