CN106092102A - A kind of unmanned plane paths planning method and device - Google Patents
A kind of unmanned plane paths planning method and device Download PDFInfo
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- CN106092102A CN106092102A CN201610574563.0A CN201610574563A CN106092102A CN 106092102 A CN106092102 A CN 106092102A CN 201610574563 A CN201610574563 A CN 201610574563A CN 106092102 A CN106092102 A CN 106092102A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention provides a kind of unmanned plane paths planning method, belong to field of computer technology, including: map area to be planned is converted into grating map；By being background dot by the obstacle tag in described grating map, being foreground point by non-obstacle tag, obtain the grating map of binaryzation；Grating map border based on starting point, terminal and the generation set, refine being constituted non-barrier region by described foreground point in the grating map of described binaryzation, obtain all paths from described origin-to-destination unmanned plane with barrier collision probability minimum, solve the problem that paths planning method of the prior art is not suitable for accurately planning unmanned plane with barrier collision probability minimal path.By non-barrier region is refined, obtain all paths from described origin-to-destination unmanned plane with barrier collision probability minimum, it is ensured that flight safety.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned plane paths planning method and device.
Background technology
At present, unmanned plane paths planning method the most all concentrates on the flight of optimum path planning aspect, such as unmanned plane
Distance is the shortest, minimum, it is minimum etc. to consume energy.When planning optimal path, the paths planning method of use has ant group algorithm,
Neural network algorithm, artificial visual field algorithm, Dijkstra's algorithm, A* algorithm etc..Above-mentioned paths planning method is calculating
During shortest path, lay particular emphasis on the length in unmanned plane during flying path, and the distance between path and barrier be not strict with,
It is relatively specific for the flight environment of vehicle of spaciousness.Visible, that, landforms more for barrier are complicated unmanned plane during flying environment, above-mentioned road
Footpath planing method is the most inapplicable.
When unmanned plane is sufficient at fuel or electricity, the time well-to-do under conditions of, it is desirable to unmanned plane flies from starting point the most safely
During to terminal execution task, a kind of method needing accurate planning unmanned plane and barrier collision probability minimal path.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane paths planning method, solves paths planning method of the prior art not
It is applicable to the problem accurately planning unmanned plane with the path of barrier collision probability minimum.
First aspect, embodiments provides a kind of unmanned plane paths planning method, including:
Map area to be planned is converted into grating map；
By being background dot by the obstacle tag in described grating map, being foreground point by non-obstacle tag, obtain
The grating map of binaryzation；
Based on the grating map border of starting point, terminal and generation set, in the grating map of described binaryzation by
The non-barrier region that described foreground point is constituted refines, and obtains from described origin-to-destination unmanned plane and barrier collider
All paths that rate is minimum.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane path planning apparatus, including:
Rasterizing module, for being converted into grating map by map area to be planned；
Binarization block, the obstacle tag in the grating map by described rasterizing module being obtained is background
Point, it is foreground point by non-obstacle tag, obtains the grating map of binaryzation；
Path refinement module, for grating map border based on starting point, terminal and the generation set, to described two-value
The non-barrier region being made up of described foreground point in the grating map changed refines, and obtains from described origin-to-destination unmanned
All paths that machine is minimum with barrier collision probability.
So, the embodiment of the present invention is by being converted into grating map by map area to be planned；By by described grid ground
Obstacle tag in figure is background dot, is foreground point by non-obstacle tag, obtains the grating map of binaryzation；Based on setting
The grating map border of starting point, terminal and generation, to being constituted non-by described foreground point in the grating map of described binaryzation
Barrier region refines, and obtains all paths from described origin-to-destination unmanned plane with barrier collision probability minimum,
Solve paths planning method of the prior art and be not suitable for accurately planning between unmanned plane and barrier that collision probability is minimum
The problem in path.By non-barrier region is refined, obtain touching with barrier from described origin-to-destination unmanned plane
All paths that the rate that collides is minimum, as the flight path of unmanned plane, it is ensured that the safety of unmanned plane during flying.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required in the embodiment of the present invention being described below
Accompanying drawing to be used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the unmanned plane paths planning method flow chart of the embodiment of the present invention one；
Fig. 2 is the unmanned plane paths planning method flow chart of the embodiment of the present invention two；
Fig. 3 is the grating map schematic diagram in the embodiment of the present invention two after binaryzation；
Fig. 4 is to marked border and starting point, the grating map schematic diagram of terminal in the embodiment of the present invention two；
Fig. 5 is the eight neighborhood pixel schematic diagram of foreground point P in the embodiment of the present invention two；
Fig. 6 is the path schematic diagram that the collision probability obtained in the embodiment of the present invention two is minimum；
Fig. 7 is the route result schematic diagram that in the embodiment of the present invention two, checking collision probability is minimum；
Fig. 8 is one of the embodiment of the present invention three unmanned plane path planning apparatus structure chart；
Fig. 9 is the two of the embodiment of the present invention three unmanned plane path planning apparatus structure chart.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments wholely.Based on this
Embodiment in bright, the every other enforcement that those of ordinary skill in the art are obtained under not making creative work premise
Example, broadly falls into the scope of protection of the invention.
Embodiment one:
As it is shown in figure 1, the embodiment of the invention discloses a kind of unmanned plane paths planning method, including: step 100 is to step
120。
Step 100, is converted into grating map by map area to be planned.
The map being currently used for navigation mostly is vectogram, and the quantity of information of map is very big, wherein, and including: geographical location information,
Geomorphology information.Vectogram is by a series of coordinates and the line of function drafting, face, body, can infinitely scale, and definition is high.This
In bright embodiment, it is only necessary to understand the geomorphology information in a certain geographical position, it is not necessary to map is zoomed in and out operation, therefore, can
To use grating map.Further, grating map based on pixel is convenient for refinement.
When being embodied as, can by interface that existing map software provides read electronic map data, scan existing
Map obtains map datum, directly reads the modes such as electronic edition map datum and obtain unmanned plane during flying map datum to be planned.
Map datum to be planned can be traffic map data, it is also possible to is the internal structure map of some building.It is then determined that
Map area to be planned in map, then use method of the prior art, described map area to be planned is converted into grid
Lattice map.
Step 110, by being background dot by the obstacle tag in described grating map, being prospect by non-obstacle tag
Point, obtains the grating map of binaryzation.
After map vector is converted into grating map, in map, the geomorphology information in each geographical position still retains, and is only
The storage format of map datum is different.By the space geomorphology information in geographical position each in grating map is judged, permissible
Determine barrier when certain position is unmanned plane during flying in map, be also non-barrier.Because unmanned plane is generally a spy
Fixed altitude, when being embodied as, in certain position of map, the elevation plane of unmanned plane during flying is blocked, such as trees,
Buildings etc., then this position is barrier, if the elevation plane at unmanned plane during flying is depletion region, then this position is non-barrier
Hinder object area.Obstacle tag in described grating map is background dot, is foreground point by non-obstacle tag, with different
Pixel value represents background dot and foreground point, can obtain the grating map of binaryzation.
Step 120, grating map border based on starting point, terminal and the generation set, the grid to described binaryzation
The non-barrier region being made up of described foreground point in map refines, and obtains from described origin-to-destination unmanned plane and obstacle
All paths that thing collision probability is minimum.
In grating map after binarization, the region that all background dots are constituted is barrier region, all foreground points structure
The region become is non-barrier region.By non-barrier region being refined or barrier region being expanded, permissible
Obtain all safe flight paths in the grating map after binaryzation.Grid based on starting point, terminal and the generation set
Non-barrier region is refined or expands barrier region by map boundary line, can obtain connecting beginning and end
The path that unmanned plane is minimum with barrier collision probability, the safest flight path.
Unmanned plane paths planning method disclosed in the embodiment of the present invention, by being converted into grid ground by map area to be planned
Figure；By being background dot by the obstacle tag in described grating map, being foreground point by non-obstacle tag, obtain binaryzation
Grating map；Grating map border based on starting point, terminal and the generation set, in the grating map to described binaryzation
Constituted non-barrier region by described foreground point to refine, obtain all roads from described origin-to-destination collision probability minimum
Footpath, solves paths planning method of the prior art and is not suitable for accurately planning unmanned plane and barrier collision probability minimum
The problem in path.By non-barrier region is refined, obtain colliding with barrier from described origin-to-destination unmanned plane
The minimum all paths of probability can flight path as unmanned plane, it is ensured that the safety of flight.
Embodiment two:
As in figure 2 it is shown, the embodiment of the invention discloses a kind of unmanned plane paths planning method, including: step 200 is to step
260。
Step 200, according to the beginning and end set, determines the map area to be planned on map；
First, according to the beginning and end in path set, for plan include on the map of flight path starting point and
One piece of region of the scope that terminal, scope determine slightly larger than beginning and end, as map area to be planned.Such as, setting
Starting point is Beijing, and terminal is Tianjin, then have only to select the body of a map or chart of Hebei province and Beijing as map area to be planned
?.When being embodied as, a smallest circular including described beginning and end can be determined according to the beginning and end set
Or rectangular area, then, by this circle or rectangular area along external expansion predeterminable range under the four direction of upper and lower, left and right so that
Circle or the area of rectangular area after extension increase to 2 times, or bigger multiple, by true to the circle after extension or rectangular area
It is set to map area to be planned.
Step 210, is converted into grating map by described map area to be planned.
Map area to be planned for determining carries out rasterizing, and map vector is converted into grating map, reduces storage
Space and data operation quantity, the simultaneously geomorphology information in the geographical position in reservation map.Map vector is converted into grating map
Time can use scheme of the prior art, the embodiment of the present invention repeats no more.The present invention is to by described map area to be planned
The specific embodiments being converted into grating map does not limits.
Step 220, by being background dot by the obstacle tag in described grating map, being prospect by non-obstacle tag
Point, obtains the grating map of binaryzation.
In the grating map of the map area to be planned obtained after conversion, still maintain each pixel position
Geomorphology information, as certain pixel position be building, for massif, or be river, for grassland etc..In the present invention, nothing
Barrier on the map of man-machine flight at least includes: the occlusion areas such as building, trees, massif.For other on map
Landforms, then it is believed that be non-barrier.When being embodied as, by being background by the obstacle tag in described grating map
Point, it is foreground point by non-obstacle tag, obtains the grating map of binaryzation, specifically include: according to the map in grating map
Information, the pixel having the position blocked corresponding the elevation plane of unmanned plane during flying is labeled as background dot, by unmanned plane during flying
Pixel corresponding to the position that elevation plane is depletion region be labeled as foreground point.Use different pixel value labelling background dots
And foreground point, such as: pixel value be this point of 1 expression be foreground point, pixel value be this point of 0 expression be background dot, a width will be obtained
The black and white grating map of binaryzation, as shown in Figure 3.In grating map 300, the region that all background dots are constituted is barrier district
Territory, such as 301 in Fig. 3；The region that all foreground points are constituted is non-barrier region, gets final product flight range, such as 302 in Fig. 3.
Then, described foreground point is constituted non-barrier region and refines, obtain from described origin-to-destination unmanned plane
The all paths minimum with barrier collision probability.When being embodied as, described foreground point is constituted non-barrier region and carries out carefully
Change, obtain all paths from described origin-to-destination unmanned plane is minimum with barrier collision probability and include: by described binaryzation
Grating map extend single pixel wide degree to surrounding, and the pixel region of extension is labeled as background dot, to generate grating map
Border；By in the grating map of described binaryzation, pixel corresponding to described beginning and end position is labeled as background dot；
In grating map to the described binaryzation after extension, the non-barrier region being made up of described foreground point refines, and obtains
From all paths that described origin-to-destination unmanned plane is minimum with barrier collision probability.
Step 230, extends single pixel wide degree by the grating map of described binaryzation to surrounding, and by the pixel region of extension
It is labeled as background dot, to generate grating map border.
The black and white grating map of the binaryzation for obtaining, along upper and lower, left and right four direction outward expansion list picture respectively
Element width, the grating map after being expanded.If the size of the grating map obtained is i row, (i, j), before refinement for j row i.e. C
Map is added BORDER PROCESSING.Will former grating map C (i j) becomes C (i+2, j+2): in the first row of grating map
Front insertion a line, last column adds a line after increasing, and inserts string before first row, increases string after last string.Former grating map
The first row, become when the second row of grating map after extension, the first row of former grating map becomes the grid ground after extension
The secondary series of figure, last column of former grating map becomes the row second from the bottom of the grating map after extension, former grating map
Last string becomes the row second from the bottom of the grating map after extension.
Then the pixel region of extension is labeled as background dot, obtains the grating map that with the addition of after the extension on border, as
Shown in Fig. 4.Wherein, 401 barrier regions, 402 is non-barrier region, and 403 is the grating map limit of the binaryzation after extension
Boundary.
Step 240, by the grid of the described binaryzation after extension corresponding for the beginning and end position of described setting
Pixel in map is labeled as background dot.
Then, by the grating map of the described binaryzation after extension corresponding for the beginning and end position set
Pixel is labeled as background dot.Such as the starting point 404 in Fig. 4 and terminal 405.
Step 250, in the grating map to the described binaryzation after extension, the non-barrier district being made up of described foreground point
Territory refines, and obtains all paths from described origin-to-destination unmanned plane with barrier collision probability minimum.
In the described grating map to the described binaryzation after extension, the non-barrier region being made up of described foreground point enters
Row refinement, obtains all paths from described origin-to-destination unmanned plane with barrier collision probability minimum, including: by quickly
Parallel thinning algorithm, from the beginning of the upper and lower, left and right four direction of the grating map of the described binaryzation after extension, to by described
The non-barrier region that foreground point is constituted carries out parallel thinning, obtains from described origin-to-destination unmanned plane and barrier collider
All paths that rate is minimum.
When being embodied as, from the beginning of the border, four, upper and lower, left and right of the grating map of the described binaryzation after extension, by
Point investigates each foreground point P on described grating map, when described foreground point P meet first pre-conditioned time, by this foreground point
It is labeled as background dot；When all foreground points are investigated after one time, again the grating map of the described binaryzation after extension upper,
Under, left and right four borders start, each foreground point P on described grating map is investigated in pointwise, when described foreground point P meets the
Two pre-conditioned time, this foreground point is labeled as background dot.Repeat both of the aforesaid and investigate the step of pixel, until not having
Meet first pre-conditioned and the second pre-conditioned pixel.Described first pre-conditioned is: the eight neighborhood pixel of foreground point P
Point includes the pixel of the background dot of predetermined number, clockwise or counterclockwise traversal foreground point P eight neighborhood, the saltus step of pixel value
Number of times equal to 1, pixel P is upper and lower, the pixel value product of the pixel of right neighborhood is left and right, lower neighborhood equal to 0 and pixel P
The pixel value product of pixel is equal to 0.Described second pre-conditioned is: the eight neighborhood pixel of foreground point P includes present count
The pixel of the background dot of amount, clockwise or counterclockwise traversal foreground point P eight neighborhood, the transition times of pixel value equal to 1, pixel
Point P is upper, the pixel value product of the pixel of left and right neighborhood is equal to the pixel value of pixel of 0 and pixel P left, upper and lower neighborhood
Product is equal to 0.
When being embodied as, as a example by the pixel of the eight neighborhood of pixel P is expressed as P0～P7, pixel P and its eight neighbour
The position relationship of pixel P0～P7 in territory is as shown in Figure 5.First from the grating map being provided with boundary condition shown in Fig. 4
Upper and lower and left and right four borders are risen, and take on each border a point respectively as foreground point P, investigate this foreground point P and its eight
The relation of the pixel value of each pixel of neighborhood.When being embodied as, in order to improve the efficiency of investigation, use four Distributed Calculation
System or four threads, the corresponding border of each calculating system or thread, simultaneously in grating map from four borders
The heart starts to investigate.
The first step, refines foreground area according to the point in border, bottom right and the upper left corner.If the eight neighborhood pixel of foreground point P
Meet following four condition simultaneously:
2≤B(P)≤6；(condition 1)
A (P)=1；(condition 2)
P0 × P2 × P6=0；(condition 3)
P0 × P4 × P6=0；(condition 4)
If then foreground point being labeled as background dot.Wherein,Represent the pixel of foreground point P eight neighborhood
The number of foreground point in point；Represent traversal foreground point P eight neighborhood clockwise
Pixel, pixel value from 0 to 1 transition times.Condition 1 is to retain isolated point (i.e. B (P)=0), end points (i.e. B (P)
=1), point (i.e. B (P)=7) and interior point (i.e. B (P)=8) in approximation；Condition 2 is to retain prospect skeletal point in grating map
(i.e. path skeletal point)；Condition 3 and 4 is to ensure that deletion border, bottom right and the point in the upper left corner, makes path refine.
When investigating to the pixel in the middle of grating map from upper and lower two borders simultaneously, or from left and right two borders simultaneously
When pixel in the middle of grating map is investigated, corresponding calculating system or thread process same in the centre position of grating map
Individual, represent and once investigated.
Second step, refines foreground area according to the point in border, upper left and the lower right corner.Start four Distributed Calculation again
System or four threads, the corresponding border of each calculating system or thread, simultaneously in grating map from four borders
The heart starts to investigate.If the eight neighborhood pixel of foreground point P meets following four condition simultaneously:
2≤B(P)≤6；(condition 5)
A (P)=1；(condition 6)
P0 × P2 × P4=0；(condition 7)
P2 × P4 × P6=0；(condition 8)
Then foreground point is labeled as background dot.Wherein,Represent in the pixel of foreground point P eight neighborhood
The number of foreground point；Represent the picture of traversal foreground point P eight neighborhood clockwise
Vegetarian refreshments, pixel value from 0 to 1 transition times.Condition 5 be in order to retain isolated point (i.e. B (P)=0), end points (i.e. B (P)=1),
Point (i.e. B (P)=7) and interior point (i.e. B (P)=8) in approximation；Condition 6 is to retain prospect skeletal point (i.e. road in grating map
Footpath skeletal point)；Condition 7 and 8 is to ensure that deletion border, upper left and the point in the lower right corner, makes path refine.
When investigating to the pixel in the middle of grating map from upper and lower two borders simultaneously, or from left and right two borders simultaneously
When pixel in the middle of grating map is investigated, corresponding calculating system or thread process same in the centre position of grating map
Individual, represent and once investigated.
Above two steps constantly circulate, until after performing an above-mentioned two step, not finding to be marked as background dot
Foreground point (does not the most meet first pre-conditioned and the second pre-conditioned foreground point), then thinning process terminates.Obtain such as Fig. 6
Shown a plurality of fly able unmanned plane is the background area after expanding with the path 601,602 of barrier collision probability minimum.
When being embodied as, the mark of eight neighborhood pixel is different, the bar in condition in the aforementioned first step 3 and 4 and second step
Part 7 and 8 is slightly different.Those skilled in the art can be through simple transformation or replace on the basis of embodiment disclosed by the invention
Change, obtain other eight neighborhood identification method and condition formulas, be suitable for the present invention.
When, in the grating map to the described binaryzation after extension, the non-barrier region being made up of described foreground point is carried out
Refinement, when obtaining only having one from all paths that described origin-to-destination unmanned plane is minimum with barrier collision probability, then will
Obtain colliding the probability minimum path secure path as unmanned plane during flying from described origin-to-destination unmanned plane and barrier.
When obtaining being more than one from all paths that described origin-to-destination unmanned plane is minimum with barrier collision probability, it is preferred that
Select a shortest paths as the secure path of unmanned plane during flying.
Step 260, from all paths minimum with barrier collision probability from described origin-to-destination unmanned plane obtained
One shortest path of middle selection.Generally, the path from the unmanned plane of origin-to-destination with barrier collision probability minimum is not only
One, from the path that the white path of origin-to-destination is a plurality of unmanned plane and barrier collision probability minimum in Fig. 6, now need
The paths flight path as unmanned plane is selected from mulitpath.When being embodied as, it is possible to use A* (A-star
Pathfinding algorithm) or other shortest path searching methods, it is thus achieved that the shortest and minimum with barrier collision probability path.This
Bright the path that probability is minimum select the concrete grammar in a path the shortest do not do to colliding from a plurality of unmanned plane and barrier
Limit.
Unmanned plane paths planning method disclosed in the embodiment of the present invention, unmanned plane path planning disclosed in the embodiment of the present invention
Method, by being converted into grating map by map area to be planned；By by the obstacle tag in described grating map for the back of the body
Sight spot, it is foreground point by non-obstacle tag, obtains the grating map of binaryzation；Based on the starting point, terminal and the generation that set
Grating map border, refine being constituted non-barrier region by described foreground point in the grating map of described binaryzation,
Obtain all paths from described origin-to-destination unmanned plane with barrier collision probability minimum, solve road of the prior art
Footpath planing method is not suitable for the problem accurately planning unmanned plane with the path of barrier collision probability minimum.By to non-obstacle
Object area refines, and obtains the path that a plurality of unmanned plane is minimum with barrier collision probability, then, at a plurality of unmanned plane and barrier
Hinder in the path of thing collision probability minimum and select a path the shortest, as the flight path of unmanned plane, i.e. ensure that flight
Safety, saved again the energy.
Quick Parallel Thinning Algorithm has been widely used in image processing field, and the feature of this algorithm is from image
Up, down, left and right four directions prospect is refined simultaneously, to the last obtain the foreground features of single pixel wide degree, to front
Sight spot carries out the process refined, it is also possible to regard the process that background dot constantly expands as.But prior art utilize parallel thin
Change algorithm when carrying out prospect refinement, be only capable of obtaining the skeleton of discrete single pixel wide degree, such as handwriting verification, fingerprint recognition etc.,
Cannot be directly used to path planning.The present invention is by improving existing parallel thinning algorithm, by arranging planning map district
The border Rule of judgment in territory, in conjunction with the process of the beginning and end in path, utilizing parallel thinning algorithm can obtain unmanned plane can
The path minimum with barrier collision probability of the connection of flight, i.e. the secure path of unmanned plane during flying.
Utilizing Quick Parallel Thinning Algorithm to carry out path planning, the feature simultaneously refined from 4 directions, after being refined
The path of single pixel wide degree, this path is farthest with the distance of barrier；Detailed process can see 4 direction obstacles all around as
Thing expands with identical speed simultaneously, until the barrier in 4 directions mutually collides.Mutually the point of collision is upper and lower
To, or the intermediate position points of left and right direction barrier.Can also regard as simultaneously by unmanned plane can flight range refine after
The backbone region arrived is from the position point furthest of barrier.As it is shown in fig. 7, A in Fig. 7, B are barrier, the region between A, B is
Non-barrier region, A, B are simultaneously with identical speed expansion, and intersecting area is C.Wherein, the distance of C distance A and B is equal.Or
Person, can be expressed as refining the region in the middle of AB, and finally refinement obtains the region C of single pixel wide degree；If between AB away from
From for L, then CA=L/2, CB=L/2；If C is any point between AB, the distance between C to A is m, then between C to B away from
From for L-m；Objective function is:The probability of F the least expression impact point C and A, B collision is the least,
Otherwise the probability of F the biggest expression C and A, B collision is the biggest.So object function takes minima, then can realize unmanned plane and obstacle
The probability of thing collision is minimum, and track now is safest track.Rewrite object function can obtain:If can be seen that and make F value minimum, then unique conditional beingI.e. m point must be positioned at AB
Midpoint, and this is just meeting the result of thinning algorithm.
By the path that a plurality of unmanned plane of the preceding aim function unmanned plane to obtaining is minimum with barrier collision probability
Verify, see barrier as background dot, the region that unmanned plane can fly is regarded as foreground point, the district that foreground point is constituted
Territory be can flight range, region to be refined.The unmanned plane obtained after refinement is full with the path of barrier collision probability minimum
FootCondition, then refining the unmanned plane that the obtains path minimum with barrier collision probability is that unmanned plane is fly able
The track of safety.
Embodiment three:
Accordingly, see Fig. 8, the invention also discloses a kind of unmanned plane path planning apparatus, including:
Rasterizing module 800, for being converted into grating map by map area to be planned；
Binarization block 810, the obstacle tag in the grating map by described rasterizing module 800 is obtained
It is foreground point for background dot, by non-obstacle tag, obtains the grating map of binaryzation；
Path refinement module 820, for grating map border based on starting point, terminal and the generation set, to described
The non-barrier region being made up of described foreground point in the grating map of binaryzation refines, and obtains from described origin-to-destination
All paths that unmanned plane is minimum with barrier collision probability.
Alternatively, as it is shown in figure 9, described path refinement module 820 includes:
Condition setting unit 8201, for the grating map of described binaryzation is extended single pixel wide degree to surrounding, and will
The pixel region of extension is labeled as background dot, to generate grating map border；
Described condition setting unit 8201, is additionally operable in the grating map of described binaryzation, described beginning and end institute
The pixel corresponding in position is labeled as background dot；
Refinement unit 8202, in the grating map to the described binaryzation after extension, is made up of described foreground point
Non-barrier region refines, and obtains all roads from described origin-to-destination unmanned plane with barrier collision probability minimum
Footpath.
Optionally, described refinement unit 8202 specifically for:
By Quick Parallel Thinning Algorithm, four, the upper and lower, left and right of the grating map of the described binaryzation after extension
Direction starts, and the non-barrier region being made up of described foreground point is carried out parallel thinning, obtain from described origin-to-destination without
The man-machine all paths minimum with barrier collision probability.
Alternatively, as it is shown in figure 9, described unmanned plane path planning apparatus also includes:
Map area to be planned determines module 840, and for according to the beginning and end set, determine on map is to be planned
Map area.
Alternatively, described binarization block 810, it is used for:
According to the cartographic information in grating map, the elevation plane of unmanned plane during flying is had the pixel that the position blocked is corresponding
Point is labeled as background dot, and pixel corresponding for position that the elevation plane of unmanned plane during flying is depletion region is labeled as prospect
Point.
Alternatively, described device also includes path selection module 830, for obtain when described path refinement module 820
During from the minimum all paths of described origin-to-destination unmanned plane and barrier collision probability more than one, from obtain from described
All paths that origin-to-destination unmanned plane is minimum with barrier collision probability select a shortest path.
Unmanned plane path planning apparatus disclosed in the embodiment of the present invention, by being converted into grid ground by map area to be planned
Figure；By being background dot by the obstacle tag in described grating map, being foreground point by non-obstacle tag, obtain binaryzation
Grating map；Grating map border based on starting point, terminal and the generation set, in the grating map to described binaryzation
The non-barrier region being made up of described foreground point refines, and obtains colliding with barrier from described origin-to-destination unmanned plane
All paths that probability is minimum, solve paths planning method of the prior art and are not suitable for accurately planning unmanned plane and obstacle
The problem in the path that thing collision probability is minimum.By non-barrier region is refined, obtain from described origin-to-destination without
The man-machine all paths minimum with barrier collision probability, it is ensured that the safety of flight.When from described origin-to-destination without
When man-machine all paths that collision probability is minimum with barrier are more than one, selects one from described origin-to-destination unmanned plane and
The shortest path that barrier collision probability is minimum, as the secure path of the fly able connection of unmanned plane, i.e. ensure that flight
Safety, saved again the energy.
Assembly of the invention embodiment is corresponding with method, the specific implementation side of seeing of each module in device embodiment
Method is embodiment, and here is omitted.
Those of ordinary skill in the art are it is to be appreciated that combine the list of each example that the embodiments described herein describes
Unit and algorithm steps, it is possible to being implemented in combination in of electronic hardware or computer software and electronic hardware.These functions are actually
Perform with hardware or software mode, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel
Each specifically should being used for can be used different methods to realize described function, but this realization is it is not considered that exceed
The scope of the present invention.
One with ordinary skill in the art would appreciate that in embodiment provided herein, described as separating component
The unit illustrated can be or may not be physically separate, i.e. may be located at a place, or can also be distributed
On multiple NEs.It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit
In, it is also possible to it is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme can be produced with software
The form of product embodies, and this computer software product is stored in a storage medium, including some instructions with so that one
Platform computer equipment (can be personal computer, server, or the network equipment etc.) performs described in each embodiment of the present invention
All or part of step of method.And aforesaid storage medium includes: USB flash disk, portable hard drive, ROM, RAM, magnetic disc or CD etc.
The various media that can store program code.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, expects change without creative work or replaces
Change, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is as the criterion.
Claims (12)
1. a unmanned plane paths planning method, it is characterised in that including:
Map area to be planned is converted into grating map；
By being background dot by the obstacle tag in described grating map, being foreground point by non-obstacle tag, obtain two-value
The grating map changed；
Based on the grating map border of starting point, terminal and generation set, in the grating map of described binaryzation by described
The non-barrier region that foreground point is constituted refines, and obtains from described origin-to-destination unmanned plane and barrier collision probability
Little all paths.
Method the most according to claim 1, it is characterised in that described grid based on the starting point, terminal and the generation that set
Lattice map boundary line, refines the non-barrier region being made up of described foreground point in the grating map of described binaryzation,
Arrive the step from described origin-to-destination unmanned plane with all paths of barrier collision probability minimum, including:
The grating map of described binaryzation is extended single pixel wide degree to surrounding, and the pixel region of extension is labeled as background
Point, to generate grating map border；
By in the grating map of described binaryzation, the pixel corresponding with described beginning and end position is labeled as background
Point；
In grating map to the described binaryzation after extension, the non-barrier region being made up of described foreground point refines,
Obtain all paths from described origin-to-destination unmanned plane with barrier collision probability minimum.
Method the most according to claim 2, it is characterised in that the described grating map to the described binaryzation after extension
In, the non-barrier region being made up of described foreground point refines, and obtains from described origin-to-destination unmanned plane and barrier
The step in all paths that collision probability is minimum, including:
By Quick Parallel Thinning Algorithm, the upper and lower, left and right four direction of the grating map of the described binaryzation after extension
Start, the non-barrier region being made up of described foreground point is carried out parallel thinning, obtains from described origin-to-destination unmanned plane
The all paths minimum with barrier collision probability.
Method the most according to claim 1, it is characterised in that described map area to be planned is converted into grating map
Before step, also include:
According to the beginning and end set, determine the map area to be planned on map.
Method the most according to claim 1, it is characterised in that described by by the obstacle tag in described grating map
It is foreground point for background dot, by non-obstacle tag, obtains the step of the grating map of binaryzation, including:
According to the cartographic information in grating map, unmanned plane during flying elevation plane is had the pixel labelling that the position blocked is corresponding
For background dot, pixel corresponding for position that the elevation plane of unmanned plane during flying is depletion region is labeled as foreground point.
6. according to the method described in claim 1 to 5 any one claim, it is characterised in that when obtain from described
When point arrives the terminal unmanned plane all paths minimum with barrier collision probability more than one, described method also includes: from obtaining
The all paths minimum from described origin-to-destination unmanned plane and barrier collision probability select a shortest path.
7. a unmanned plane path planning apparatus, it is characterised in that including:
Rasterizing module, for being converted into grating map by map area to be planned；
Binarization block, the obstacle tag in by grating map that described rasterizing module is obtained be background dot,
It is foreground point by non-obstacle tag, obtains the grating map of binaryzation；
Path refinement module, for grating map border based on starting point, terminal and the generation set, to described binaryzation
The non-barrier region being made up of described foreground point in grating map refines, obtain from described origin-to-destination unmanned plane with
All paths that barrier collision probability is minimum.
Device the most according to claim 7, it is characterised in that described path refinement module includes:
Condition setting unit, for extending single pixel wide degree by the grating map of described binaryzation to surrounding, and by the picture of extension
Element zone marker is background dot, to generate grating map border；
Described condition setting unit, is additionally operable in the grating map of described binaryzation, described beginning and end position pair
The pixel answered is labeled as background dot；
Refinement unit, in the grating map to the described binaryzation after extension, the non-barrier being made up of described foreground point
Region refines, and obtains all paths from described origin-to-destination unmanned plane with barrier collision probability minimum.
Device the most according to claim 8, it is characterised in that described refinement unit is used for:
By Quick Parallel Thinning Algorithm, the upper and lower, left and right four direction of the grating map of the described binaryzation after extension
Start, the non-barrier region being made up of described foreground point is carried out parallel thinning, obtains from described origin-to-destination unmanned plane
The all paths minimum with barrier collision probability.
Device the most according to claim 7, it is characterised in that also include:
Map area to be planned determines module, for according to the beginning and end set, determining the map area to be planned on map
Territory.
11. devices according to claim 7, it is characterised in that described binarization block is used for:
According to the cartographic information in grating map, the elevation plane of unmanned plane during flying is had the pixel mark that the position blocked is corresponding
It is designated as background dot, pixel corresponding for position that the elevation plane of unmanned plane during flying is depletion region is labeled as foreground point.
12. according to the device described in claim 7 to 11 any one claim, it is characterised in that described device also includes:
Path selection module, for touching with barrier from described origin-to-destination unmanned plane when what described path refinement module obtained
When all paths of the rate that collides minimum are more than one, collide probability from described origin-to-destination unmanned plane with barrier from obtain
Minimum all paths select a shortest path.
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Address after: 510000, Tianhe District, Guangzhou, Gaotang Software Park, No. 3A01, thinking road, No. 1, No. Applicant after: Guangzhou flying Technology Co., Ltd. Address before: 510000, Tianhe District, Guangzhou, Gaotang Software Park, No. 3A01, thinking road, No. 1, No. Applicant before: GUANGZHOU XAIRCRAFT ELECTRONIC TECHNOLOGY CO., LTD. |
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Application publication date: 20161109 |