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Unmanned aerial vehicle mixing path planning method

A hybrid path, UAV technology, applied in the direction of finding the target control and other directions, can solve the problems of poor robustness, easy occurrence of obstacles, collisions, etc., to reduce the computational load and time-consuming effects.

Active Publication Date: 2021-08-06
YANGTZE UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a hybrid path planning algorithm based on the fusion of UAV path global planning algorithm and deep learning DRL local planning, so as to solve the poor robustness of the existing vision-based UAV planning method Technical problems that are prone to collisions with obstacles

Method used

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  • Unmanned aerial vehicle mixing path planning method

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Embodiment Construction

[0062] The UAV hybrid path planning method includes the following steps: (see the attached manual figure 1 )

[0063] 1. The EADA* algorithm is improved on the basis of the existing ADA* algorithm;

[0064] On the basis of the existing ADA* algorithm, the head sorting function is realized by adding the head sorting algorithm idea;

[0065] The specific steps to realize it are as follows:

[0066] 1.1. In the initialization phase of the ADA* algorithm, set the value of ε to a larger value, greater than or equal to 2.0; create empty queues OPEN, CLOSED, INCONS and WALLS; except that the cost of the target in the path is 0, g(s) and The value of v(s) is set to infinity in all states;

[0067] 1.2. The starting state moves along the current suboptimal solution at the state speed of each iteration; in each iteration, Towards The target location moves; the pathfinding cycle continues until the body reaches the final target state, i.e. ;

[0068] 1.3. Calculate the cost of ...

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Abstract

The invention relates to an unmanned aerial vehicle autonomous path planning method, and belongs to the technical field of unmanned aerial vehicle control. The unmanned aerial vehicle hybrid path planning method is improved on the basis of an existing ADA * algorithm, time consumption caused by repeated sorting is reduced, meanwhile, for unmanned aerial vehicle obstacle avoidance, a local planning neural network based on DRL is additionally adopted, existing obstacles are detected, a path is re-planned, the calculation load of an airborne computer is greatly reduced, and obstacles can be effectively avoided.

Description

technical field [0001] The invention relates to a method for autonomously planning a path of an unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicle control. Background technique [0002] With the development of drone technology and market popularization, drones have also been widely used in civil fields such as aerial photography, inspection, agriculture, forestry and plant protection, environmental protection, and post-disaster rescue. However, in reality, there are many complicated restrictions on the flight routes of drones, such as buildings, airports, government agencies, schools, crowded areas and other no-fly zones. It will cause personal safety risks and even directly cause accidents. Therefore, planning a safe and globally optimal route that avoids sensitive areas before UAV operations has become an urgent need. [0003] At present, there are many methods for autonomously planning paths of UAVs. For example, a UAV route plannin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 詹炜李伟豪孙泳董天豫
Owner YANGTZE UNIVERSITY
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