Unmanned aerial vehicle obstacle avoidance method and device based on multi-signal acquisition and path planning model

Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method and device based on a multi-signal acquisition and path planning model, computer equipment and a storage medium. The methodcomprises the steps of carrying out the signal acquisition and processing of a first environment region, so as to obtain an initial millimeter-wave radar signal, an initial laser radar signal, an initial image signal and an initial ultrasonic signal, generating an initial three-dimensional environment model according to a preset dynamic environment real-time modeling method, acquiring motion parameters and body shape parameters of the unmanned aerial vehicle, and inputting the motion parameters and the body shape parameters into an initial path planning model established based on a genetic algorithm and corresponding to the initial three-dimensional environment model for processing so as to obtain output of the initial path planning model, judging whether the output can avoid obstacles ornot, and if the unmanned aerial vehicle can avoid the obstacle, generating an obstacle avoidance flight instruction to require the unmanned aerial vehicle to perform obstacle avoidance flight along the initial obstacle avoidance path and fly over the first environment area, so that the problems of rapid diagnosis and obstacle avoidance of small objects and intruding objects are solved.

Description

technical field [0001] The present application relates to the field of computers, in particular to an obstacle avoidance method, device, computer equipment and storage medium for drones based on multi-signal acquisition and path planning models. Background technique [0002] Due to its lightness and flexibility, drones have been widely used in various industries. During the flight of the UAV, if it encounters an obstacle, it needs to perform obstacle avoidance processing. The existing UAV obstacle avoidance scheme uses a single signal acquisition method to determine the position of the obstacle, and then performs obstacle avoidance flight. Therefore, the traditional UAV obstacle avoidance scheme has a narrow scope of application. In a more complex environment, such as a complex agricultural environment (such as existence), it is difficult to accurately and efficiently identify obstacles and perform accurate obstacle avoidance flight. High UAV security risks. Contents of ...

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Problems solved by technology

Therefore, the traditional UAV obstacle avoidance scheme has a narrow scope of application. In a more complex environment, such as a complex agricultural environment (such as existence), it is difficult to accurately and efficiently identify obstacles and perform accurate obstacle avoidance flight. High drone safety hazard

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