CN103901892A - Control method and system of unmanned aerial vehicle - Google Patents
Control method and system of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a control method and system of an unmanned aerial vehicle. The method includes the following steps that scanning is performed to generate a grid map of the flight environment, and area demarcation is performed on the flight environment according to the grid map information; according to the grid map and the area demarcation result, a flight path is planned through an A* algorithm; a plurality of path points are selected form the planned flight path, and the shortest distances from the path points to surrounding obstacles are respectively calculated; when the shortest distance between one path point and the corresponding obstacle is larger than the radius of safety, the aircraft can fly along the path point, and when the shortest distance is smaller than the radius of safety, the flight path is planned through a wall-following algorithm so that the aircraft can fly. According to the method, area demarcation is performed on the flight environment according to the map information, the A* algorithm and the wall-following algorithm are combined to plan the flight path, and thus the efficiency and the safety of autonomous flight of the unmanned aerial vehicle are improved and good expansibility is achieved.
Description
Technical field
The present invention relates to unmanned plane technical field, particularly a kind of control method of unmanned plane and system.
Background technology
Unmanned plane can pass through outfit external sensor, and by planning layer algorithm, makes unmanned plane possess environmental information collection, modeling, the ability of goal task planning, decomposition, execution.And then can bring into play key player in fields such as post-disaster search and rescue, infrastructure supervision.
The navigation of unmanned plane is one of them important ingredient.The navigation research of unmanned plane lead be for solve by Durrant ?three key issues proposing of Whyte H F: 1) " now where? ", 2) " where going to? ", 3) " how going to this place? "Can be subdivided into again and be solved complete known environment according to application scenarios, part known environment and the completely navigation problem of circumstances not known.Wherein, the path planning under known environment has been obtained plentiful and substantial achievement in research completely, and Visual Graph method, Grid Method etc. can both be realized the requirement of global path planning efficiently.
To part, navigation unknown and circumstances not known completely is main study hotspot in recent years at present, and to part, navigation unknown and circumstances not known completely mainly adopts Artificial Potential Field Method, fuzzy logic method, the modes such as rolling window law of planning are navigated, and existing mode can make navigation behavior lack " foresight ", and single navigation programming there will be local stuck, sink into part and minimize and explore path and the problem such as repeat.Therefore, cannot, according to the flexible toggle path planning of the variation of environment mode, be unfavorable for the all-round exploration of complicated unknown flight environment of vehicle, greatly increase danger.
Summary of the invention
Object of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this reason, one aspect of the present invention provides a kind of control method of unmanned plane.
Another aspect of the present invention proposes a kind of control system of unmanned plane.
In view of this, the embodiment of one aspect of the present invention proposes a kind of control method of unmanned plane, comprises the following steps: region description step, scans and generates the grating map of flight environment of vehicle, and according to described grating map, described flight environment of vehicle is carried out to region description; Path planning step, according to described grating map and region description result, utilizes A
*algorithmic rule flight path; Minimum distance calculation step is chosen multiple paths point from the described flight path of planning, calculates respectively the bee-line of described multiple path point and peripheral obstacle; And the first flight step, in the time that the bee-line of respective path point and described peripheral obstacle is greater than radius of safety, described unmanned plane flies along this path point.
According to the method for the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
In one embodiment of the invention, also comprise: route adjust step, in the time that the bee-line of described respective path point is less than described radius of safety, by wall ?following algorithm adjust this path point and flight path afterwards thereof, and path point and the bee-line of peripheral obstacle after guaranteeing to adjust is greater than described safe distance; And second flight step, using adjust after multiple path points fly as flight path.
In one embodiment of the invention, described region description step specifically comprises: the grating map that generates described flight environment of vehicle according to the depth information of described flight environment of vehicle; According to described grating map, each grid of described grating map is identified; And being connected so that described flight environment of vehicle is carried out to region description in abutting connection with grid of barrier will be comprised according to recognition result.
In one embodiment of the invention, path planning step specifically comprises: according to current location, described grating map and described region description result selected target point; Utilize A
*algorithm calculates the flight path from described current location to described selected target point.
The present invention embodiment has on the other hand proposed a kind of control system of unmanned plane, comprising: description module, for generating the grating map of flight environment of vehicle, and according to described grating map, described flight environment of vehicle is carried out to region description; Planning module, for according to described grating map and region description result, utilizes A
*algorithmic rule flight path; Computing module, for choosing multiple paths point from the described flight path of planning, and calculates respectively the bee-line of described multiple path point and peripheral obstacle; And flight module, in the time that respective path point is greater than radius of safety with the bee-line of described peripheral obstacle, the path point using this path point in flight path flies.
According to the system of the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
In one embodiment of the invention, also comprise: adjusting module, in the time that the bee-line of described respective path point is less than described radius of safety, by wall ?following algorithm adjust this path point and flight path afterwards thereof, and guarantee that the path point after adjustment is greater than described safe distance with the bee-line of described peripheral obstacle, the multiple path points after adjusting fly as flight path.
In one embodiment of the invention, described description module specifically comprises: generation unit, for generate the grating map of described flight environment of vehicle according to the depth information of described flight environment of vehicle; Recognition unit, for identifying each grid of described grating map according to described grating map; And description unit, for will comprising being connected so that described flight environment of vehicle is carried out to region description in abutting connection with grid of barrier according to recognition result.
In one embodiment of the invention, described planning module specifically comprises: determining unit, for according to current location, described grating map and described region description result selected target point; And planning unit, for utilizing A
*algorithm calculates the flight path from described current location to described selected target point.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments obviously and easily and understand, wherein,
Fig. 1 is the process flow diagram of the control method of unmanned plane according to an embodiment of the invention;
Fig. 2 is the schematic diagram that can reach row judgement according to the path point of the embodiment of the present invention;
Fig. 3 is the path planning schematic diagram according to the embodiment of the present invention; And
Fig. 4 is according to the structural representation of the control system of the unmanned plane of the embodiment of the present invention.
Embodiment
Describe embodiments of the invention below in detail, the example of embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of indications such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " be only for describing object, and can not be interpreted as indication or hint relative importance.
In description of the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or connect integratedly; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can concrete condition understand above-mentioned term concrete meaning in the present invention.
Fig. 1 is the process flow diagram of the control method of unmanned plane according to an embodiment of the invention.As shown in Figure 1, according to the control method of the unmanned plane of the embodiment of the present invention, comprise the following steps: scan and generate the grating map of flight environment of vehicle, and according to grating map, flight environment of vehicle is carried out to region description (step 101).According to grating map and region description result, utilize A
*algorithmic rule flight path (step 103).From the flight path of planning, choose multiple paths point, calculate respectively the bee-line (step 105) of multiple path points and peripheral obstacle.In the time that respective path point is greater than radius of safety with the bee-line of peripheral obstacle, unmanned plane is along this path point flight (step 107).
According to the method for the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
In step 101, generate the grating map of flight environment of vehicle according to the depth information of flight environment of vehicle.According to grating map, each grid of grating map is identified.Being connected so that flight environment of vehicle is carried out to region description in abutting connection with grid of barrier will be comprised according to recognition result.
In one embodiment of the invention, according to the depth information of a certain height levels in the flight environment of vehicle of certain frequency scanning unmanned plane, and generate the grating map of flight environment of vehicle according to this depth information by airborne sensors such as two-dimensional laser range finders.Wherein, the information of grating map adopts two-dimensional array storage, and in array, ranks number represents the coordinate information of this grid in map, represents different environmental informations by the value of different arrays.For example, " 0 " represents that this grid is searched and there is no barrier, and " 100 " represent that this grid has been explored and has existed barrier, and " 1 " represents that this grid is not also explored.
In one embodiment of the invention, explore the border in region and region to be explored according to the information extraction of grating map, be called zone of ignorance border.Be specially, whether traversal grating map, have the grid of value for " 1 " in the neighbours territory of judgment value for the grid of " 0 ", if there is this grid point to be zone of ignorance frontier point and to store its two-dimensional coordinate, and then all zone of ignorance frontier points done to continuity judgement.When having another frontier point in a certain frontier point eight neighborhoods, these two frontier points are continuous.The continuum boundary point that two-dimensional coordinate is met to linear relation couples together, and forms many zone of ignorance borders.By presetting threshold value T
1and T
2(0 < T
1< T
2) choose and there is appropriate length L(T
1< L < T
2) border and calculate its centre of form coordinate as goal seeking point to be selected.In one embodiment of the invention, after obtaining the centre of form coordinate on many zone of ignorance borders, choose from the nearest centre of form coordinate of unmanned plane as exploring point.
In step 103, according to current location, grating map and region description result selected target point.Utilize A
*algorithm calculates the flight path of point from current location to selected target.
In one embodiment of the invention, because be subject to, the interference, UAV Attitude of complicated flight environment of vehicle change and the impact of sensor noise, possibly cannot correctly extract zone of ignorance border and then cannot selecting paths point.In this case, unmanned plane according to real-time environmental information adopt Wall ?following algorithm calculate next accessibility flight path point, with the continuity that keeps complicated zone of ignorance to explore.
In step 105 and step 107, unmanned plane from the flight path of planning while choosing multiple path point, is distinguished the bee-line of calculating path point and corresponding barrier, to judge whether this path point can reach (whether being less than safe distance).When the radius of unmanned plane is r
ac, safe distance is r
t, radius of safety r
safe=r
ac+ r
t.Judge that the rule whether path point can reach is: with the Dian Wei center of circle, this path, with radius of safety r
safefor radius does circle, if there is no barrier within the scope of this, this path point can reach, otherwise is unreachable.Put in path when unreachable, adjust this path point to fly with the path point after adjusting meeting can reach condition time.Fig. 2 is the schematic diagram that can reach row judgement according to the path point of the embodiment of the present invention.As shown in Figure 2, two path point A and B, whether unmanned plane can first according to there is barrier (being whether some A in path can reach) before arriving A point in real-time Environmental Map Information computationally secure radius (as shown in shade in Fig. 2), determine within the scope of this and do not have to fly to A point after barrier.Arrive after A point, judge the accessibility that B is ordered.In safe hunting zone due to path point B, occurred barrier therefore can not be using path point the path point in the flight path of unmanned plane, need to adjust path point to hide this barrier.For example path can be put to B` and elect the point that is greater than radius of safety from this obstacle distance as.
Fig. 3 is the path planning schematic diagram according to the embodiment of the present invention.As shown in Figure 3, under unmanned plane initial state, be in 1 point, now whole region explored.Can utilize sensor to explore whole cartographic information, use be range finder using laser, being demarcated in whole region.In Fig. 2, white background is known region, and dash area is zone of ignorance.Carry out region description and can obtain a, b, c, tetra-borders of d.Therefrom choose some D on a of border as airbound target point.Now, utilize A
*algorithm calculates a flight path that comprises four path points (1 ?4 is put in path), and its path point quantity can be determined according to the concrete conditions such as flight demand or demand.Unmanned plane flies according to 1 → 2 → 3 → 4 order under normal circumstances.Put to path 1 o'clock in flight, the bee-line between can while calculating path point 2,3,4 and corresponding barrier, and with safe distance comparison judging whether to reach (be bee-line be greater than safe distance corresponding path point as reaching).If path point 2 can reach, and that put in path is 3 unreachable, adjust flight path at path point 2, abandon path point 3 and path point 4, and put in path 2 o'clock (arrive in path point 3 before) adopt wall ?following algorithm along the current wall flight that can detect, to guarantee the continuity of exploration.It should be noted that, unmanned plane constantly carries out planning and the adjustment of region division and path point in flight course.
According to the method for the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
Fig. 4 is according to the structural representation of the control system of the unmanned plane of the embodiment of the present invention.As shown in Figure 4, comprise according to the control system of the unmanned plane of the embodiment of the present invention: description module 100, planning module 300, computing module 500 and flight module 700.
Particularly, description module 100 is for generating the grating map of flight environment of vehicle, and according to grating map, flight environment of vehicle carried out to region description.Planning module 300, for according to grating map and region description result, utilizes A
*algorithmic rule flight path.Computing module 500 is for choosing multiple paths point from the flight path of planning, and calculates respectively the bee-line of multiple path points and peripheral obstacle.Flight module 700 is in the time that respective path point is greater than radius of safety with the bee-line of peripheral obstacle, and the path point using this path point in flight path flies.
According to the system of the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
In one embodiment of the invention, also comprise: adjusting module 900 is in the time that the bee-line of respective path point is less than radius of safety, by wall ?following algorithm adjust this path point and flight path afterwards thereof, and guarantee that the path point after adjustment is greater than safe distance with the bee-line of peripheral obstacle, the multiple path points after adjusting fly as flight path.
According to the system of the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?the following algorithm planning flight path that combines, the efficiency and the security that have improved unmanned plane autonomous flight have good extendability simultaneously.
In one embodiment of the invention, dividing module 100 specifically comprises: generation unit 110, recognition unit 120 and description unit 130.
Particularly, generation unit 110 is for generating the grating map of flight environment of vehicle according to the depth information of flight environment of vehicle.Recognition unit 120 is for identifying each grid of grating map according to grating map.Description unit 130 is for will comprising being connected so that flight environment of vehicle is carried out to region description in abutting connection with grid of barrier according to recognition result.
In one embodiment of the invention, generation unit 110 passes through the airborne sensors such as two-dimensional laser range finder according to the depth information of a certain height levels in the flight environment of vehicle of certain frequency scanning unmanned plane, and generates the grating map of flight environment of vehicle according to this depth information.Wherein, the cartographic information of grating map adopts two-dimensional array storage, and in array, ranks number represents the coordinate information of this grid in map, represents different environmental informations by the value of different arrays.For example, " 0 " represents that this grid is searched and there is no barrier, and " 100 " represent that this grid has been explored and has existed barrier, and " 1 " represents that this grid is not also explored.
In one embodiment of the invention, description unit 130 extracts the border of having explored region and region to be explored according to the cartographic information of grating map, be called zone of ignorance border.Be specially, whether traversal grating map, have the grid of value for " 1 " in the neighbours territory of judgment value for the grid of " 0 ", if there is this grid point to be zone of ignorance frontier point and to store its two-dimensional coordinate, and then all zone of ignorance frontier points done to continuity judgement.When having another frontier point in a certain frontier point eight neighborhoods, these two frontier points are continuous.The continuum boundary point that two-dimensional coordinate is met to linear relation couples together, and forms many zone of ignorance borders.By presetting threshold value T
1and T
2(0 < T
1< T
2) choose and there is appropriate length L(T
1< L < T
2) border and calculate its centre of form coordinate as goal seeking point to be selected.In one embodiment of the invention, after obtaining the centre of form coordinate on many zone of ignorance borders, choose from the nearest centre of form coordinate of unmanned plane as exploring point.
In one embodiment of the invention, planning module 300 specifically comprises: determining unit 310 and planning unit 320.
Determining unit 310 is for according to current location, grating map and region description result selected target point.Planning unit 320 is for utilizing A
*algorithm calculates the flight path of point from current location to selected target.
Computing module 500 from the flight path of planning while choosing multiple path point, is distinguished the bee-line of calculating path point and corresponding barrier, to judge whether this path point can reach (whether being less than safe distance).When the radius of unmanned plane is r
ac, safe distance is r
t, radius of safety r
safe=r
ac+ r
t.Judge that the rule whether path point can reach is: with the Dian Wei center of circle, this path, with radius of safety r
safefor radius does circle, if there is no barrier within the scope of this, this path point can reach, otherwise is unreachable.Put in path when unreachable, adjust this path point to fly with the path point after adjusting meeting can reach condition time.Fig. 2 is the schematic diagram that can reach row judgement according to the path point of the embodiment of the present invention.As shown in Figure 2, two path point A and B, whether unmanned plane can first according to there is barrier (being whether some A in path can reach) before arriving A point in real-time Environmental Map Information computationally secure radius (as shown in shade in Fig. 2), determine within the scope of this and do not have to fly to A point after barrier.Arrive after A point, judge the accessibility that B is ordered.In safe hunting zone due to path point B, occurred barrier therefore can not be using path point the path point in the flight path of unmanned plane, need to adjust path point to hide this barrier by adjusting module 900.For example adjusting module 900 can be put path B and elect the point that is greater than radius of safety from this obstacle distance as.
Fig. 3 is the path planning schematic diagram according to the embodiment of the present invention.As shown in Figure 3, under unmanned plane initial state, be in 1 point, now whole region explored.Generation unit 110 can utilize sensor to explore whole cartographic information, use be range finder using laser, being demarcated in whole region.In Fig. 2, white background is known region, and dash area is zone of ignorance.Carry out region description and can obtain a, b, c, tetra-borders of d.Therefrom choose some D on a of border as air objective (D for destination).Now, utilize A
*algorithm calculates a flight path that comprises four path points (1 ?4 is put in path), and its path point quantity can be determined according to the concrete conditions such as flight demand or demand.Unmanned plane flies according to 1 → 2 → 3 → 4 order under normal circumstances.Put to path 1 o'clock in flight, the bee-line between can while calculating path point 2,3,4 and corresponding barrier, and with safe distance comparison judging whether to reach (be bee-line be greater than safe distance corresponding path point as reaching).If path point 2 can reach, and path is put 3 adjusting modules 900 when unreachable and is adjusted flight paths at path point 2, abandons path point 3 and path point 4, and puts 2 o'clock (before arrival path point 3) employing A in path
*the adjustment flight paths such as algorithm with in the flight path after adjustment determine with the bee-line of corresponding barrier be greater than safe distance multiple paths point with wall ?following algorithm (arithmetic along the wall), along the current wall flight that can detect, with the continuity that guarantees to explore.It should be noted that, unmanned plane constantly carries out planning and the adjustment of region division and path point in flight course.
According to the method for the embodiment of the present invention, information is carried out region description to flight environment of vehicle according to the map, by A
*algorithm and wall ?following algorithm combine to plan flight path, improved efficiency and the security of unmanned plane autonomous flight, there is good extendability simultaneously.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention in the situation that not departing from principle of the present invention and aim, modification, replacement and modification.
Claims (8)
1. a control method for unmanned plane, is characterized in that, comprises the following steps:
Region description step, scans and generates the grating map of flight environment of vehicle, and according to described grating map, described flight environment of vehicle is carried out to region description;
Path planning step, according to described grating map and region description result, utilizes A
*algorithmic rule flight path;
Minimum distance calculation step is chosen multiple paths point from the described flight path of planning, calculates respectively the bee-line of described multiple path point and peripheral obstacle; And
The first flight step, in the time that respective path point is greater than radius of safety with the bee-line of described peripheral obstacle, described unmanned plane is along this path point flight.
2. the control method of unmanned plane as claimed in claim 1, is characterized in that, also comprises:
Route adjust step, in the time that the bee-line of described respective path point is less than described radius of safety, by wall ?following algorithm adjust this path point and flight path afterwards thereof, and path point and the bee-line of peripheral obstacle after guaranteeing to adjust is greater than described safe distance; And
The second flight step, the multiple path points after adjusting fly as flight path.
3. the control method of unmanned plane as claimed in claim 1, is characterized in that, described region description step specifically comprises:
Generate the grating map of described flight environment of vehicle according to the depth information of described flight environment of vehicle;
According to described grating map, each grid of described grating map is identified; And
Being connected so that described flight environment of vehicle is carried out to region description in abutting connection with grid of barrier will be comprised according to recognition result.
4. the control method of unmanned plane as claimed in claim 1, is characterized in that, described path planning step specifically comprises:
According to current location, described grating map and described region description result selected target point;
Utilize A
*algorithm calculates the flight path from described current location to described selected target point.
5. a control system for unmanned plane, is characterized in that, comprising:
Description module, for generating the grating map of flight environment of vehicle, and carries out region description according to described grating map to described flight environment of vehicle;
Planning module, for according to described grating map and region description result, utilizes A
*algorithmic rule flight path;
Computing module, for choosing multiple paths point from the described flight path of planning, and calculates respectively the bee-line of described multiple path point and peripheral obstacle; And
Flight module, in the time that respective path point is greater than radius of safety with the bee-line of described peripheral obstacle, the path point using this path point in flight path flies.
6. the control system of unmanned plane as claimed in claim 5, is characterized in that, also comprises:
Adjusting module, in the time that the bee-line of described respective path point is less than described radius of safety, by wall ?following algorithm adjust this path point and flight path afterwards thereof, and guarantee that the path point after adjustment is greater than described safe distance with the bee-line of described peripheral obstacle, the multiple path points after adjusting fly as flight path.
7. the control system of unmanned plane as claimed in claim 5, is characterized in that, described description module specifically comprises:
Generation unit, for generating the grating map of described flight environment of vehicle according to the depth information of described flight environment of vehicle;
Recognition unit, for identifying each grid of described grating map according to described grating map; And
Description unit, for will comprising being connected so that described flight environment of vehicle is carried out to region description in abutting connection with grid of barrier according to recognition result.
8. the control system of unmanned plane as claimed in claim 5, is characterized in that, described planning module specifically comprises:
Determining unit, for according to current location, described grating map and described region description result selected target point; And
Planning unit, for utilizing A
*algorithm calculates the flight path from described current location to described selected target point.
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