A real-time planning method for UAV track based on dubins path and branch and bound

Abstract

The invention relates to a method for real-time planning of UAV track based on Dubins path and branch limit, and belongs to the technical field of track autonomous planning. The invention combines the Dubins path with the branch-and-bound algorithm, and is used for real-time planning of the shortest flight path for the unmanned aerial vehicle in the plane to avoid all obstacles. The trajectory based on the Dubins path is more in line with the flight characteristics of the UAV due to the consideration of the kinematic constraints of the fixed-wing UAV. At the same time, the present invention uses a branch-and-bound algorithm in the process of expanding and traversing the track search tree, which not only reduces storage consumption, but also improves the traversal speed of the track search tree. Compared with the traditional method, the present invention simplifies the problem of track planning that can be implemented in engineering, takes into account the quality of the track and the speed of planning, and has strong engineering practicability.

Description

[0001]1. Technical Field[0002]The invention belongs to the field of autonomous flight path planning of unmanned aerial vehicles, and specifically relates to a real-time planning method for the global track of fixed-wing unmanned aerial vehicles.[0003]2. Technical background[0004]With the increasing demand for drones’ intelligence and hardware processing capabilities, the online trajectory planning of drones has become an inevitable trend. It is necessary to find a trajectory planning with high reliability, strong real-time performance, low storage consumption and strong engineering practicability. algorithm. There are two problems with the existing UAV trajectory planning methods: First, the trajectory obtained by the existing trajectory planning method is often composed of a series of track points, and the UAV is limited by its maneuverability, and there are some problems when turning. For a certain turning radius, this form of trajectory does not meet the flight characteristics of...

AI Technical Summary

Problems solved by technology

There are two problems in the existing UAV trajectory planning method: one is that the trajectory obtained by the existing UAV trajectory planning method is often composed of a series of trajectory points, and the UAV is limited by the maneuverability, and there is a problem when turning. With a certain turning radius, this form of trajectory does not conform to the flight characteristics of UAVs, and subsequent trajectory optimization is required; second, the complexity and storage consumption of UAV trajectory planning increase exponentially with the problem scale, while The onboard computing resources of UAVs are limited, and the existing trajectory planning methods are difficult to achieve real-time planning, and the engineering practicability is poor

Images