A UAV path planning method based on second-order cone optimization

A path planning, unmanned aerial vehicle technology, applied in mechanical equipment, combustion engines, internal combustion piston engines, etc., can solve problems such as high energy consumption, limited application scope, inability to guarantee convergence and optimality, etc.

Active Publication Date: 2022-06-03
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

However, most heuristic algorithms cannot guarantee convergence and optimality, which leads to high energy consumption, great conservatism, and limited application range

Method used

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  • A UAV path planning method based on second-order cone optimization
  • A UAV path planning method based on second-order cone optimization
  • A UAV path planning method based on second-order cone optimization

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] The first step: use the method of variable substitution to process the two-dimensional UAV motion model, and introduce new control quantities, new state quantities, and equality constraints composed of new control quantities and new state quantities.

[0072] like figure 2 As shown, point M and point T respectively represent the initial position and target position of the UAV, and the dotted line between point M and point T is the flight path, then the two-dimensional UAV motion model is:

[0073]

[0074] Among them, x represents the horizontal coordinate of the drone, y represents the vertical coordinate of the drone, η represents the heading angle of the drone, V represents the flight speed of the drone, u represents the control input, and the direction of u is the same as that of the drone. The velocity direction is vertical;

[0075] In order to transform the two-dimensional UAV motion model into the second-order cone optimization framework, the method of vari...

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Abstract

The invention discloses a UAV path planning method based on second-order cone optimization, including: establishing a two-dimensional UAV motion model and transforming it; Description form; Convexize and relax the non-convex constraints existing in the problem, so that it can satisfy the second-order cone optimization framework, and introduce the L1 penalty function in the no-fly zone constraint to ensure the solvability of the problem; based on the above-mentioned various The cost function is constrained to design, so that the transformed problem is equivalent to the original problem; the problem is discretized, and a successive iteration strategy is given to solve it under the framework of second-order cone optimization. The present invention adopts the path planning method based on second-order cone optimization, which not only ensures that the designed path is the global optimum, but also directly solves the state quantity and control input of the UAV, avoiding additional design of control laws, and, in When applied, it also has the advantages of high calculation efficiency and easy expansion of the number and types of constraints.

Description

technical field [0001] The invention relates to the technical field of UAV path planning, in particular to a UAV path planning method based on second-order cone optimization. Background technique [0002] In recent years, UAV technology has become a strategic focus of research and development in various countries. Because UAVs have the advantages of reusability, convenient and simple operation, long voyage time, small size and low cost, they are currently used in military fields such as target reconnaissance, electronic countermeasures, equipment delivery and ground support, as well as rescue and disaster relief, emergency communications, Civil fields such as atmospheric environment monitoring and land and mineral exploration have broad application prospects. Especially in some dangerous, remote or harsh environments, drones have gradually replaced manned systems. With the continuous expansion and deepening of the application scope of UAVs, the difficulty of the tasks perf...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/106Y02T10/40
Inventor 胡庆雷陈曦曹瑞浩郑建英郭雷
Owner BEIHANG UNIV
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