Static flight path planning method and device forunmanned aerial vehicle

Abstract

The invention provides a static flight path planning method and device for an unmanned aerial vehicle. The method comprises the following steps: 1, constructing a three-dimensional coordinate graph ofa flight environment of the unmanned aerial vehicle, and determining avoidance risk information in a static track route and the coordinate information of the flight path of the unmanned aerial vehicle; 2, determining a flight area of the unmanned aerial vehicle flight path based on the coordinate information and the avoidance risk information; 3, establishing a total cost model of the flight path, wherein the calculation result of the total cost model represents the fitness of the flight path during the flight of the unmanned aerial vehicle; 4, setting N initial flight paths of the unmanned aerial vehicle in the flight area, and dividing the initial flight paths into three sub-populations; and 5, updating the filial generation track of each sub-population by adopting a multi-strategy fusion difference algorithm for different sub-populations, and selecting the filial generation flight path with the minimum fitness in all the sub-populations as the static flight path of the unmanned aerial vehicle through the total cost model. According to the method, the static flight path which can avoid risks and meet the requirement of the unmanned aerial vehicle for flying can be planned.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a static track planning method and device for an unmanned aerial vehicle. Background technique [0002] UAVs have broad application prospects in military fields (such as reconnaissance, tracking, strike) and civilian fields (such as rescue, search, monitoring), especially in dangerous, remote or harsh environments, which have gradually replaced manned systems. . In order to ensure that UAVs perform tasks efficiently, it is essential to pre-plan a reasonable static global track based on environmental information, UAV’s own characteristics, and mission requirements. Its safety and reliability directly determine the follow-up real-time The merits and demerits of local planning trajectory have gradually become a hot issue of general concern. [0003] Compared with robot path planning, UAV static track planning is faced with complex three-dimensional sce...

AI Technical Summary

Problems solved by technology

However, when using these algorithms for unmanned trajectory planning, there are problems such as slow convergence speed, poor robustness, and it is difficult to find a better path when faced with a more complex mission environment.

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