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Method for planning obstacle avoidance motion of UAV under cruise mission

A motion planning and unmanned aerial vehicle technology, applied in non-electric variable control, three-dimensional position/channel control, instruments, etc., can solve problems such as insufficient ability to deal with sudden obstacles, complex calculation of unmanned aerial vehicle obstacle avoidance methods, etc., to achieve improvement The effect of planning speed and fast response

Active Publication Date: 2019-10-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Purpose of the invention: In view of the shortcomings of the UAV obstacle avoidance method in the above-mentioned prior art, such as complex calculation and insufficient ability to deal with sudden obstacles, the present invention provides a motion planning method for UAV obstacle avoidance under cruise tasks

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  • Method for planning obstacle avoidance motion of UAV under cruise mission
  • Method for planning obstacle avoidance motion of UAV under cruise mission
  • Method for planning obstacle avoidance motion of UAV under cruise mission

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Embodiment Construction

[0043] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0044] This embodiment provides a motion planning method for unmanned aerial vehicle obstacle avoidance under the cruising task, the method is as attached figure 1 As shown, firstly, the task environment (the scope of the cruise task) is modeled, and the task environment is divided into units by using the grid method, and the length of the minimum turning radius of the UAV is selected twice as the grid size. On the one hand, this can Satisfying the kinematic constraints of the UAV, on the other hand, can make the generated path smoother and feasible.

[0045] On the basis of the digital map, the collision risk scoring is carried out for each divided grid, and ...

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Abstract

The invention discloses a method for planning obstacle avoidance motion of a UAV under a cruise mission. The method comprises steps of performing rasterizing modeling on a global environment, establishing a risk evaluation function, producing global track points by using an improved A star algorithm, introducing UAV speed constraint and maximum yawing rate constraint in the A star algorithm, smoothing discrete points by using a Doberman curve, and for emergent obstacles, avoiding the obstacles in real time by using a geometric position relationship and the Doberman curve. In the method, control policies of the UAV are modelled by using a Markov decision model, so as to determine an optimal manoeuvre for avoiding the obstacle. Through adoption of the method, the UAV can rapidly figure out asafe track according to the position of the known obstacle, can respond to sudden barriers and perform the optimal manoeuvre, so as to avoid colliding with an obstacle.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle obstacle avoidance, and in particular relates to a motion planning method for unmanned aerial vehicle obstacle avoidance under cruise tasks. Background technique [0002] Recently, small fixed-wing UAVs have shown great potential in military and civilian fields, and are widely used in cruise surveillance and search. These tasks require fixed-wing UAVs to be able to autonomously plan obstacle-free collision paths in unfamiliar and unknown environments. , and can maximize the search cruise range. [0003] Traditional 3D path planning techniques such as fast-exploring random trees, visual map methods, and artificial potential field methods are computationally complex, and need to be recalculated when the environment around the UAV changes. Contents of the invention [0004] Purpose of the invention: In view of the shortcomings of the UAV obstacle avoidance method in the above-menti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张乐袁锁中黄永康
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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