Improved unmanned aerial vehicle route planning method based on artificial potential field method

Abstract

The invention relates to an improved unmanned aerial vehicle route planning method based on an artificial potential field method, and belongs to the field of unmanned aerial vehicle route planning. Firstly, modeling is carried out on a three-dimensional terrain and forest environment space, that is, an external environment is divided into a gravitational field area and a repulsion field area, a gravitational field is established with a target point as the center, a repulsion field is established with an obstacle as the center, it is guaranteed that the target point is a global minimum point of a combined potential field, and therefore an unmanned aerial vehicle can reach the target point in the descending direction of the combined potential field. Then, the resultant force borne by the unmanned aerial vehicle at the current moment is calculated in real time through the potential field intensity of the current position, and the unmanned aerial vehicle advances towards the target point under the combined action of the target gravitational field of the unmanned aerial vehicle and the repulsion field around the obstacle. Meanwhile, whether the unmanned aerial vehicle is trapped in the local point is judged, and if yes, the unmanned aerial vehicle jumps out of the local minimum point through a method of updating the sub-target points in time. Finally, the unmanned aerial vehicle arrives at the target point along the optimal path. The method is higher in calculation efficiency and higher in safety.

Description

technical field [0001] The invention belongs to the field of UAV track planning, and relates to an improved UAV track planning method based on an artificial potential field method. Background technique [0002] In the process of social and economic development, the role of forests cannot be ignored. Therefore, forestry is also the main body of national ecological construction. On the other hand, my country is not only a country with rich forest resources, but also a country with frequent forest fires. Although the territory is vast and the total amount of forest resources is large, the per capita forest coverage rate is low and the types are various. The work of forest fire prevention has to face unfavorable climate. Due to various conditions such as geographical environment and geographical environment, we must always face practical difficulties such as difficulty in controlling the source of fire, overloading of combustibles, and insufficient prevention and control capabili...

AI Technical Summary

Problems solved by technology

[0005] In order to avoid the deficiencies of the prior art, the present invention proposes an improved UAV track planning method based on the artificial potential field method to solve the problem of UAV track planning in forest fires

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