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Unmanned aerial vehicle obstacle avoidance method and system and unmanned aerial vehicle cluster obstacle avoidance method and system

A UAV, obstacle avoidance technology, applied in control/adjustment systems, instruments, three-dimensional position/channel control, etc., can solve problems such as inapplicable prediction of unknown obstacles, dynamic obstacles, etc.

Active Publication Date: 2021-11-09
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the field of UAV dynamic obstacle avoidance technology, the nonlinear prediction model is mainly used to predict the trajectory of moving obstacles, but this method is limited to the nonlinear prediction model and is not suitable for predicting dynamic obstacles of unknown obstacles and their unknown trajectories.

Method used

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  • Unmanned aerial vehicle obstacle avoidance method and system and unmanned aerial vehicle cluster obstacle avoidance method and system
  • Unmanned aerial vehicle obstacle avoidance method and system and unmanned aerial vehicle cluster obstacle avoidance method and system
  • Unmanned aerial vehicle obstacle avoidance method and system and unmanned aerial vehicle cluster obstacle avoidance method and system

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Embodiment 1

[0067] See figure 1 , a UAV obstacle avoidance method provided in this embodiment specifically includes the following steps.

[0068] Step 101: Obtain location information of dynamic obstacles.

[0069] In this embodiment, the position information of the dynamic obstacle is jointly acquired based on the laser radar and the binocular camera; the position information includes at least five position point information collected continuously.

[0070] Since the laser radar has the advantages of short positioning, limited detection range, and fast speed, and the binocular camera has the characteristics of long-distance image positioning, the laser radar is used to work at a short distance, and the binocular camera is used to work at a long distance to achieve complementary advantages. The purpose of accurately obtaining the location information of dynamic obstacles.

[0071] figure 2 The working principle of the binocular camera is shown, where f represents the focal length of t...

Embodiment 2

[0138] This embodiment provides a UAV obstacle avoidance system, such as Figure 7 shown, including:

[0139] The location information acquisition module 701 is configured to acquire location information of dynamic obstacles.

[0140] The inversion prediction module 702 is configured to invert and predict the flight trajectory of the dynamic obstacle based on the position information and the quasi-linear variable parameter model.

[0141] A collision time interval determining module 703, configured to determine a collision time interval between the UAV and the dynamic obstacle based on the flight trajectory.

[0142] The obstacle avoidance scheme selection module 704 is configured to determine whether the UAV enters the collision area based on the collision time interval, and when the UAV enters the collision area, according to the UAV and the The relative position between dynamic obstacles, select the corresponding obstacle avoidance scheme.

[0143] Among them, the system...

Embodiment 3

[0145] When UAV clusters perform tasks in a distributed manner, the UAVs are kept independent of each other. At the same time, in order to ensure the completion of the flight mission, the UAV formation flight is required to maintain consistency. The drone cluster selects the pilot drone, and the rest of the drones serve as follower drones. Once the pilot drone is unfortunately blown up, the optimization algorithm will launch a new pilot drone.

[0146] When the UAV cluster formation performs flight missions, following the UAV to follow the pilot UAV, due to communication delays or external interference, the cluster formation is often destroyed, and there is a large error between the actual flight trajectory and the specified path of the following UAV. , the advantage is that the control system of the UAV is known, and there is no need to reconstruct the system state. The pilot UAV only needs to send the target position information and control input. Even if there is information...

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Abstract

The invention provides an unmanned aerial vehicle obstacle avoidance method and system and an unmanned aerial vehicle cluster obstacle avoidance method and system. The method mainly comprises the steps of obtaining position information of a dynamic obstacle; based on the position information and a quasi-linear variable parameter model, inversely predicting the flight path of the dynamic obstacle; based on the flight path, determining a collision time interval between the unmanned aerial vehicle and the dynamic obstacle; and based on the collision time interval, determining whether the unmanned aerial vehicle enters a collision area, and when the unmanned aerial vehicle enters the collision area, selecting a corresponding obstacle avoidance scheme according to the relative position between the unmanned aerial vehicle and the dynamic obstacle. According to the method, modeling is not needed, the flight track of the dynamic obstacle can be inversely predicted only according to the position information and the quasi-linear variable parameter model, and the purposes of accurately predicting the movement track of the dynamic obstacle and accurately avoiding the obstacle are achieved.

Description

technical field [0001] The present invention relates to the technical field of UAV dynamic obstacle avoidance, in particular to an UAV obstacle avoidance method and system, and an UAV cluster obstacle avoidance method and system. Background technique [0002] At present, drones have shown broad application prospects in many application fields such as infrastructure inspection, underground mine detection, accident search and rescue, surveying and mapping, and precision agriculture. In general scenarios, UAV flight missions do not consider the impact of dynamic obstacles, but the actual situation is just the opposite. Flight accidents are often caused by dynamic obstacles. Therefore, in complex environments, multi-aircraft formations need to fly together to jointly deal with UFOs. , while UAV formation needs to determine the moving trajectory of dynamic obstacles. [0003] In the field of UAV dynamic obstacle avoidance technology, nonlinear prediction models are mainly used t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 杨光马海旭周宁曲东明陈冠宇杨云瑞金雪莹
Owner JILIN UNIV
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