CN108170163A - A kind of autonomous path planning method of small drone - Google Patents
A kind of autonomous path planning method of small drone Download PDFInfo
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- CN108170163A CN108170163A CN201711494379.6A CN201711494379A CN108170163A CN 108170163 A CN108170163 A CN 108170163A CN 201711494379 A CN201711494379 A CN 201711494379A CN 108170163 A CN108170163 A CN 108170163A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of autonomous path planning methods of small drone, include the following steps：S1：GPS positioning：Use the position of the GPS positioning system positioning small drone itself of four-axle aircraft；S2：The tracking of small drone is realized as Path Planning using improved A Star algorithms；S3：Ant colony evolution algorithm optimizes feasible flight path：The flight path that A Star algorithms improved in S2 calculate is input to ant group algorithm, feasible flight path is optimized by ant group algorithm, calculates shortest flight path circuit；S4：Optimal trajectory post-processes：All track points of place on the same line are summarized as straight line section and include two endpoints of head and the tail.The present invention solves conventional small unmanned plane and is controlled by remote control, and scope of activities is easily restricted in controller's horizon range, so as to realize the autonomous flight of small drone, small drone can not be made to have the problem of wider array of scope of activities.
Description
Technical field
The present invention relates to unmanned air vehicle technique field more particularly to a kind of autonomous path planning methods of small drone.
Background technology
Prior art UAV referred to as " unmanned plane ", is controlled using radio robot and the program provided for oneself
The not manned aircraft that device manipulates.Without cockpit on machine, but the equipment such as automatic pilot, presetting apparatus are installed.Ground,
On naval vessels or machine tool remote control station personnel are by equipment such as radars, to it into line trace, positioning, remote control, telemetering and Digital Transmission.It can
It takes off as conventional airplane or is launched with booster rocket under wireless remotecontrol, can also take aerial launch to by machine tool and fly
Row.During recycling, the mode automatic Landing as conventional airplane landing mission can be used, can also pass through remote control parachute or block
Recycling.It can be reused several times.It is widely used in aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc..
Conventional small unmanned plane is controlled by remote control, and scope of activities is easily restricted in controller's horizon range, so as to
It can not realize the autonomous flight of small drone, can not make small drone that there is wider array of scope of activities, and trajectory planning is calculated
Method is the key that realize autonomous flight.With the development of satellite positioning tech, small drone can obtain itself position by GPS
Confidence ceases, and using this information and the complaint message of combination surrounding map, can design Path Planning can realize small-sized nothing
Man-machine autonomous flight.Herein by taking the four-axle aircraft based on GPS positioning system as an example, devise a kind of based on GPS positioning system
The autonomous Path Planning of small drone of system, the algorithm are simply easily realized.
Invention content
The purpose of the present invention is to provide a kind of autonomous path planning methods of small drone, and having flies small drone
Line range is wide, can autonomous flight the advantages of, solve conventional small unmanned plane and be controlled by remote control, scope of activities is easily limited
It is formed in controller's horizon range, so as to realize the autonomous flight of small drone, small drone can not be made to have more
The problem of wide scope of activities.
The autonomous path planning method of a kind of small drone according to embodiments of the present invention, includes the following steps：
S1：GPS positioning：Use the position of the GPS positioning system positioning small drone itself of four-axle aircraft；
S2：The tracking of small drone is realized as Path Planning using improved A-Star algorithms；
S3：Ant colony evolution algorithm optimizes feasible flight path：The flight path that A-Star algorithms improved in S2 calculate is input to ant
Group's algorithm, optimizes feasible flight path by ant group algorithm, calculates shortest flight path circuit；
S4：Optimal trajectory post-processes：All track points of place on the same line are summarized as straight line section and include head and the tail two
Endpoint.
On the basis of said program, A-Star algorithms are a kind of heuristic search algorithms for solving static network shortest path.
In classical A-Star algorithms, first by map rasterizing, having " access " in map（Passable part）" obstacle "（No
Passable part）Then two kinds of grids calculate the distance value from current grid to the grid being likely to reach.
On the basis of said program, in A-Star algorithm search, from starting point, check adjacent cells, then again from
Adjacent cells are searched for outward, until expanding to target location, when searching for adjacent cells, and first search F（n）Smaller grid.For
Repeat search is prevented, one is established in search process and opens list and closes list for storing current grid to be searched
The grid of search has been completed, the optimal path that each grid is reached from starting point is constantly obtained in search process, until
Search target point.
On the basis of said program, the GPS receiver of four-axle aircraft used receives mould for U-BLOX GPS signals in S1
Block can obtain the longitude and latitude of four-axle aircraft present position, and it is dd.mm.mmmmm that data, which return to form,（Spend points
Five decimal fractions that points of integer part）, it is WGS-84 coordinate systems used in GPS positioning system, to WGS-84 coordinate systems
Carry out plane rectangular coordinates transformation.
On the basis of said program, learn from else's experience in design, latitude 0.001 divides scale division value for coordinate system.After coordinate conversion, with
Longitude positive direction is y-axis, is indexed as 1.854m, using latitude positive direction as x-axis, is indexed as 1.336m, with perpendicular to Horizon towards
On direction for z-axis, index the space coordinates that four-axle aircraft is established for 1m, miniature self-service realized in this space coordinates
The autonomous Path Planning of machine.
On the basis of said program, it is simultaneously for that can pass through by obstacle construction on the basis of two-dimentional A-Star algorithms
Obstacle assigns corresponding weights.
A-Star algorithms are a kind of heuristic search algorithms for solving static network shortest path.Classical A-Star algorithms
In, first by map rasterizing, having " access " in map（Passable part）" obstacle "（Not passable part）Two
Kind grid, then calculates the distance value from current grid to the grid being likely to reach.Its cost functionExpression formula
For
Wherein：For the estimate cost from origin-to-destination；For the actual cost from starting point to current location；
For the estimate cost from current location to target point.
In A-Star algorithm search, from starting point, check adjacent cells, then searched for outward from adjacent cells again,
Until expanding to target location, when searching for adjacent cells, first searchSmaller grid.To prevent repeat search,
One is established in search process to open list and close list for storing current grid to be searched and having completed to search for
Grid.The optimal path that each grid is reached from starting point is constantly obtained in search process, until searching target point.Phase
Than the breadth-first search for directly searching path（BFS）, the cost function of A-Star algorithms calculating current location to terminal
In add estimation function,Addition can allow algorithm first search open list in close to terminal grid, can
To avoid unnecessary search to greatest extent.In the algorithm of this paper,Value for current point to target point Europe it is several in
Moral distance.
The present invention has an advantageous effect in that compared with prior art：
1st, it is autonomous to design a kind of small drone based on GPS positioning system for the autonomous path planning method of this kind of small drone
Path Planning, it is achieved thereby that the autonomous flight of small drone, can make small drone have wider array of scope of activities,
And this method is simple and easily realizes；
2nd, the autonomous path planning method of this kind of small drone is using improved A-Star algorithms, the A- before improvement
In Star algorithms, obstacle absolutely not may pass through, i.e., the height of obstacle is infinite, and in the flight path rule for carrying out small drone
Draw when, since small drone can adjust flying height, not actually exist small drone can not by obstacle.
Therefore, after being improved to algorithm, obstacle is arranged to pass through, while obstacle is endowed corresponding weights, so as to
Realize optimization of the A-Star algorithms in three-dimensional route planning problem, improved A-Star algorithms can obtain in trajectory planning
To the path solution more optimized.
Specific embodiment
For that can further appreciate that feature, technological means and the concrete function reached of the present invention, below with specific implementation
This step is described in detail in mode.
A kind of autonomous path planning method of small drone is present embodiments provided, is included the following steps：
S1：GPS positioning：Use the position of the GPS positioning system positioning small drone itself of four-axle aircraft；
S2：The tracking of small drone is realized as Path Planning using improved A-Star algorithms；
S3：Ant colony evolution algorithm optimizes feasible flight path：The flight path that A-Star algorithms improved in S2 calculate is input to ant
Group's algorithm, optimizes feasible flight path by ant group algorithm, calculates shortest flight path circuit；
S4：Optimal trajectory post-processes：All track points of place on the same line are summarized as straight line section and include head and the tail two
Endpoint, it is autonomous that the autonomous path planning method of this kind of small drone designs a kind of small drone based on GPS positioning system
Path Planning, it is achieved thereby that the autonomous flight of small drone, can make small drone have wider array of scope of activities,
And this method is simple and easily realizes.
A-Star algorithms are a kind of heuristic search algorithms for solving static network shortest path.Classical A-Star algorithms
In, first by map rasterizing, having " access " in map（Passable part）" obstacle "（Not passable part）Two
Kind grid, then calculates the distance value from current grid to the grid being likely to reach, in A-Star algorithm search, from
Point sets out, and checks adjacent cells, is then searched for outward from adjacent cells again, until expanding to target location, in search adjacent gate
During lattice, first search F（n）Smaller grid.To prevent repeat search, one is established in search process and opens list and pass
List is closed for storing current grid to be searched and having completed the grid of search.It is constantly obtained from starting point in search process
The optimal path of each grid is reached, until searching target point, the GPS receiver of four-axle aircraft used is U- in S1
BLOX GPS signal receiving modules can obtain the longitude and latitude of four-axle aircraft present position.Its data returns to form
dd.mm.mmmmm（Spend five decimal fractions of points of points of integer part）.It is that WGS-84 is sat used in GPS positioning system
Mark system carries out WGS-84 coordinate systems plane rectangular coordinates transformation, learns from else's experience in the design, latitude 0.001 divides dividing for coordinate system
Angle value.It after coordinate conversion, using longitude positive direction as y-axis, indexes as 1.854m, using latitude positive direction as x-axis, indexes and be
1.336m, as z-axis, to index the space coordinates that four-axle aircraft is established for 1m, herein perpendicular to ground level upwardly direction
The autonomous Path Planning of small drone is realized in space coordinates, by obstacle construction on the basis of two-dimentional A-Star algorithms
Corresponding weights are assigned for that can pass through, while for obstacle, and the autonomous path planning method of this kind of small drone is using changing
Into A-Star algorithms, in the A-Star algorithms before improvement, obstacle absolutely not may pass through, i.e., the height of obstacle be nothing
Thoroughly, and in the trajectory planning for carrying out small drone, since small drone can adjust flying height, actually not
There are small drone can not by obstacle.Therefore, after being improved to algorithm, obstacle is arranged to pass through,
Obstacle is endowed corresponding weights simultaneously, so as to fulfill optimization of the A-Star algorithms in three-dimensional route planning problem, after improvement
A-Star algorithms can more be optimized in trajectory planning path solution.
Part is not described in detail by the present invention, is the known technology of those skilled in the art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of autonomous path planning method of small drone, it is characterised in that：Include the following steps：
S1：GPS positioning：Use the position of the GPS positioning system positioning small drone itself of four-axle aircraft；
S2：The tracking of small drone is realized as Path Planning using improved A-Star algorithms；
S3：Ant colony evolution algorithm optimizes feasible flight path：The flight path that A-Star algorithms improved in S2 calculate is input to ant
Group's algorithm, optimizes feasible flight path by ant group algorithm, calculates shortest flight path circuit；
S4：Optimal trajectory post-processes：All track points of place on the same line are summarized as straight line section and include head and the tail two
Endpoint.
2. a kind of autonomous path planning method of small drone according to claim 1, it is characterised in that：The A-Star
Algorithm is a kind of heuristic search algorithm for solving static network shortest path.
3. a kind of autonomous path planning method of small drone according to claim 2, it is characterised in that：It is calculated in A-Star
When method is searched for, from starting point, check adjacent cells, then searched for outward from adjacent cells again, until expanding to target location,
When searching for adjacent cells, the smaller grid of first search to prevent repeat search, will establish a unlatching in search process
List and closing list are used to store current grid to be searched and have completed the grid of search, are constantly obtained in search process
The optimal path that each grid is reached from starting point is taken, until searching target point.
4. a kind of autonomous path planning method of small drone according to claim 1, it is characterised in that：Used four in S1
The GPS receiver of axis aircraft is U-BLOX GPS signal receiving modules, can obtain four-axle aircraft present position
Longitude and latitude, it is dd.mm.mmmmm that data, which return to form, is WGS-84 coordinate systems used in GPS positioning system, to WGS-84
Coordinate system carries out plane rectangular coordinates transformation.
5. a kind of autonomous path planning method of small drone according to claim 4, it is characterised in that：It is taken in this method
Divide the scale division value for coordinate system through, latitude 0.001, after coordinate conversion, using longitude positive direction as y-axis, index as 1.854m, with latitude
Degree positive direction is x-axis, is indexed as 1.336m, and the flight of four axis is established for 1m, as z-axis, to be indexed perpendicular to ground level upwardly direction
The space coordinates of device realize the autonomous Path Planning of small drone in this space coordinates.
6. a kind of autonomous path planning method of small drone according to claim 1, it is characterised in that：In two-dimentional A-
By obstacle construction for that can pass through on the basis of Star algorithms, while corresponding weights are assigned for obstacle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109976156A (en) * | 2019-03-13 | 2019-07-05 | 南京航空航天大学 | Fixed-wing unmanned plane, which is dwelt, falls the modeling and forecast Control Algorithm of motor-driven track |
| CN111679692A (en) * | 2020-08-04 | 2020-09-18 | 上海海事大学 | Unmanned aerial vehicle path planning method based on improved A-star algorithm |
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