Unmanned aerial vehicle route planning and obstacle avoiding method

Abstract

The invention discloses an unmanned aerial vehicle route planning and obstacle avoidance method, which comprises the steps of S1, establishing a two-dimensional space model, and setting space model data according to a flight starting point and a flight ending point; S2, obtaining a global offline air route by utilizing the space model data, and setting a flight air route as a global offline air route; S3, the unmanned aerial vehicle flying along the flight route, and monitoring whether a dynamic obstacle appears on the flight route or not in real time through a sensor; S4, when a dynamic obstacle appears, entering the next step; if no dynamic obstacle appears and the flight end point is not reached, entering the step S3, and if the flight end point is reached, entering the step S8; s5, initializing a pigeon flock algorithm by adopting an adjoint matrix method with constraints, and then performing local airway planning by using the pigeon flock algorithm; s6, smoothing the local air route by using the B spline curve; s7, the flight route being a combination of a global offline route and a local route, and executing the step S3; and S8, completing a flight mission, and ending the process.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for route planning and obstacle avoidance of an unmanned aerial vehicle. Background technique [0002] With the rapid development of drone technology, drones have begun to be used in aerial photography, logistics and other fields. However, with the increase in the number of UAVs, if UAVs are faced with the threat of obstacles during flight, relying on UAV pilots to operate and avoid obstacles will consume too much human resources. The manual operation of the human-machine pilot requires dynamic obstacle avoidance planning for the flight route of the UAV. Therefore, how to plan a safe, fast and economical UAV route when encountering sudden obstacles is an existing Important problems in technology that need to be solved urgently. [0003] At present, the commonly used UAV route planning methods mainly include the Dijkstra method, the adjoint ...

AI Technical Summary

Problems solved by technology

[0004] In the above-mentioned process of using the pigeon swarm algorithm for UAV flight path planning, there are problems such as excessive consumption of algorithm threat cost, slow algorithm convergence speed, long flight path length, and failure to smooth the flight path, which lead to problems such as unmanned aerial vehicle flight Airways are not suitable for complex flight environments

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