CN110274596A - A kind of intelligent barrier avoiding method based on timing node - Google Patents
A kind of intelligent barrier avoiding method based on timing node Download PDFInfo
- Publication number
- CN110274596A CN110274596A CN201910296738.XA CN201910296738A CN110274596A CN 110274596 A CN110274596 A CN 110274596A CN 201910296738 A CN201910296738 A CN 201910296738A CN 110274596 A CN110274596 A CN 110274596A
- Authority
- CN
- China
- Prior art keywords
- path
- target
- point
- targets
- list
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004888 barrier function Effects 0.000 title claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 14
- 238000013439 planning Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002123 temporal effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000013450 outlier detection Methods 0.000 claims description 3
- 206010033799 Paralysis Diseases 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001914 filtration Methods 0.000 description 4
- 230000004807 localization Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008775 paternal effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The intelligent barrier avoiding method based on timing node that present invention relates particularly to a kind of specifically includes that and carries out precise positioning to the real time position of target, obtains the coordinates of targets (x, y, t) of t moment；Plane is divided into square net, divides coordinate points；No. 1 target will from A to B, draw it is all from A to B can passage path, multilevel iudge goes out a fastest path, and this fastest path is stored in work library；Start to plan No. 2 targets from C to D path, repeat the selection path process of No. 1 target, and the path is compared with the path in the library that works, such as there is coincidence point, then judge the time difference, it is as too small such as the time difference, there are risk of collision, programme path again；After start plan No. 3 targets path and so on, repeat the above process.Intelligent barrier avoiding method of the invention according to the travel path of target carry out risk anticipation, by macroscopic view anticipation, rationally using it is all can passage path, reduce wait phenomenon and wait may cause paralysis the problems such as.
Description
Technical field
The invention belongs to UWB technology fields, and in particular to a kind of intelligent barrier avoiding method based on timing node.
Background technique
UWB is a kind of no-load communication techniques, transmits data using the non-sinusoidal waveform burst pulse of nanosecond to Microsecond grade.Pass through
The signal of extremely low power is transmitted on wider frequency spectrum, UWB can realize hundreds of Mbit/s to number in the range of 10 meters or so
The message transmission rate of Gbit/s.Its strong anti-interference performance, transmission rate is high, and the big transmission power of power system capacity is very small.UWB system
Transmission power of uniting is very small, and communication equipment can be achieved with communicating with the transmission power less than 1mW.Low transmitting power is prolonged significantly
The long system power supply working time.Moreover, transmission power is small, the influence of Electromagnetic Wave Radiation on Human also can very little, application surface is just
Extensively.It is the intention for having new meaning that UWB technology, which is applied to intelligent barrier avoiding, by the anticipation of macroscopic view, calls all resources, is carried out
Intelligent barrier avoiding.
Summary of the invention
The intelligent barrier avoiding method based on timing node that the object of the present invention is to provide a kind of, according to the travel path of target
Carry out risk anticipation, if it exists risk then planning path again, can jam situation to avoid target at same crossing, by macro
The anticipation of sight rationally utilize it is all can passage path, improve efficiency, reduce the problems such as paralysing caused by waiting phenomenon and waiting.This
The purpose of invention is achieved through the following technical solutions:
A kind of intelligent barrier avoiding method based on timing node, mainly includes the following steps,
Step 1: precise positioning: precise positioning is carried out to the real time position of target, obtain t moment coordinates of targets (x, y,
t)；
Step 2: planning path:
A) plane is divided into square net, divides coordinate points, simplify region of search；
B) No. 1 target will from A to B, draw it is all from A to B can passage path, multilevel iudge goes out a fastest path,
And this fastest path is stored in work library；
C) No. 2 targets are marched into the arena, repeat No. 1 target selection path process, and by the path and work library in path into
Row compares, and such as there is coincidence point, then judges the time difference, and as too small such as the time difference, there are risk of collision, then programme path again.
Further, the specific steps of above-mentioned steps two are as follows:
1) assume in t0At the moment, No. 1 target is from starting point A to terminal B is wanted, and at current time, No. 1 target will be done searches as follows
Rope: since point A, as a point deposit one " opening list " to be processed, carving, only one element in table at the beginning,
But element increases later, forms a grid list to be checked；Mark the direction of travel of current goal；It is left up and down to find starting point
Passable grid and unlatching list is added in right four direction, skip can not by grid；It is deleted a little from opening in list
A is added to one " closing list ", saves all grids for not needing to check again in list；Then, selection is opened in list
Close on grid, repeat the process of front；
2) in t1Time, No. 2 targets enter near-earth region, by the number in the optimal three-dimensional array of No. 2 targets and work library
According to being compared, phase near point if it exists, then the point be marked as No. 2 targets can not progress point, programme path is until new again
Coordinates measurement；
3) repetition is above-mentioned 1) with 2) process, carries out path planning to the target of any time.
Further, above-mentioned steps one specifically comprise the following steps:
1) it using mixing least square method, directly handles the pulse signal issued by UWB label and receives pulse letter to base station
Number time, obtain positioning initial value；
2) with the point of Lagrange interpolation polynomial processing short distance, the accuracy of coordinate is improved；
It 3) will be because bad data caused by extraneous factor interference be rejected using outlier detection algorithm；
4) real-time coordinates of various discrete label are obtained with moving average filter, reaches the effect of optimization of positioning accuracy.
Further, above-mentioned intelligent barrier avoiding method further includes path detection, and the set time receives a near-earth region institute
There is the two-dimensional coordinate of target, these coordinates added into temporal information, is compared with the route data of each target in work library,
It sends a warning when target deviation route.
Compared with prior art, beneficial effects of the present invention:
Target is accurately positioned in intelligent barrier avoiding method of the invention, and it is pre- to carry out risk according to the travel path of target
Sentence, if it exists risk then planning path again, can jam situation to avoid target at same crossing, the anticipation for passing through macroscopic view closes
Reason using it is all can passage path, improve efficiency, reduce the problems such as paralysing caused by waiting phenomenon and waiting.
Detailed description of the invention
Fig. 1 is the present embodiment positioning basic principle block diagram.
Fig. 2 is the precision of the present embodiment with distance change line chart.
Fig. 3 is the interpolating function matched curve of the present embodiment.
Fig. 4 is that the outlier of the present embodiment rejects algorithm flow chart.
Fig. 5 is the moving average filter algorithm flow chart of the present embodiment.
Fig. 6 is the UAV Intelligent avoidance simplification figure of the present embodiment.
Fig. 7 is the system framework schematic diagram of the present embodiment.
Fig. 8 is the route programming result of the present embodiment.
Specific embodiment
Further detailed description is done to the present invention combined with specific embodiments below, but embodiments of the present invention are not limited to
This.
The present embodiment is illustrated the intelligent barrier avoiding method by taking unmanned plane as an example.
It counts 2~40 times within DW1000 mono- second, therefore its smallest chronomere isThat is 16.65ps.DW1000 will
Real-time capture sends and receives timestamp, and accurately timestamp is before point-to-point accurate ranging is realized between label and base station
Mention, label between base station at a distance from be that the flight time tof (Timeof Flignt) transmitted a signal to by label up to base station multiplies
It is completed with the light velocity.That is:
D=tof × c
Due to the ultra wide band characteristic of itself, the temporal resolution of uwb is very high, and multiplied by the light velocity, range accuracy substantially may be used
It effectively keeps to a very small extent, to realize three-dimensional localization, needing to find out by the XYZ three-dimensional coordinate of positioning device, in base station
When erection, need especially to pull open the difference in height of Z axis, to ensure the accuracy on Z axis.Use the mode of TOF, three bases
Three-dimensional localization can be completed by standing.Ground set up can using set up mounting rod in the way of, for acquisition accurately three-dimensional localization data,
The mode for installing base station unmanned plane progress spot hover additional can be used to carry out the measurement to Z axis height.
Accurately the time is the key factor for obtaining targeting accuracy coordinate, and existing DW1000 can exist control errors
Within 30cm, error can be further reduced by being further processed for data.In this part, first using mixing minimum two
Multiplication directly handles the time that the pulse signal issued by UWB label receives pulse signal to base station, obtains positioning initial value；So
Afterwards with the point of Lagrange interpolation polynomial processing short distance, the accuracy of coordinate is improved；Use outlier detection algorithm will again
Because bad data caused by extraneous factor interference is rejected；Finally the reality of various discrete label is obtained with moving average filter
When coordinate, reach the effect of optimization of positioning accuracy.This positioning and optimizing model further increases positioning accuracy, and can mention significantly
The anti-jamming effectiveness of high positioning system, effectively increases location efficiency.Specific block diagram is as shown in Figure 1.
The data of four points are taken to draw line chart as shown in Figure 2.Observe Fig. 2, using interpolation method find out distance and error it
Between mapping relations.3 Lagrange interpolation polynomial P are sought by above 4 nodes3(x).Calculation formula is
Wherein
Have at node
L3(xj)=f (xj) (j=0,1,2,3)
And on other aspects, it is the approximation of f (x).Note
R3(x)=f (x)-Ln(x)
Claim R3It (x) is the remainder of interpolation polynomial.
By 3 Lagrange interpolation polynomials being calculated are as follows:
Y=-5.96 × 10-13·x3+3.175×10-9·x3-50824×10-6·x2+0.004034·x+0.4263
Matched curve is as shown in Figure 3.Fig. 3 is observed it can be found that 3 Lagrange interpolation polynomial methods can achieve very well
Fitting effect.It therefore, only need to be by the distance received by above formula progress for the label point in two meters of base station
Conversion, can be obtained the position coordinates that accuracy greatly promotes.These points are carried out together with remote label into one below
The processing of step.
It can count 40 times within DW1000 mono- second, i.e., each label is per second 40 dynamic coordinates.These coordinates are accurate
It floats value left and right.It is found by actual observation, partial coordinates differ larger with true value, analyze reason it is found that label and base station
Between information transmitting be electromagnetic wave, when there is strong interference in the external world (for example, apart from it is close when, someone is walking up and down), propagate
Time will receive influence, so institute's ranging from and true value compared to biggish deviation can be generated.Number biggish for these deviations
According to, rejected, main thought be delete from the farther away data of average value.A critical value K is set, when data and averagely
When the gap of value is more than critical value K, it is determined as outlier and rejects.Specific formula is as follows:
Wherein ri=1 indicates that the data will not be removed, ri=0 indicates that the data can be removed.In order to determine that k's is specific
Value, be by the thought of least square method, and specific flow chart is referring to Fig. 4.
There are many kinds of current alternative filtering algorithms, such as limit filtration, middle position value filtering method, digital averaging filtering
Method, moving average filter method, anti-impulse disturbances average filter method etc..Moving average filter is selected, it can be good at adapting to
In the higher-order of oscillation system of this paper, and it is smooth all high, there is good inhibiting effect to PERIODIC INTERFERENCE.
The specific method of moving average filter is that N number of sampled value will continuously be taken to regard a queue as, and the length of queue is solid
It is set to N.Sampling a new data is put into tail of the queue every time, and throws away a data of original head of the queue, (first in first out),
N number of data in queue carry out arithmetic average operation, that is, obtain the flow chart of new filter result algorithm referring to Fig. 5.
Unmanned plane does not need obstacle in high-altitude flight, but UWB can reach when unmanned plane during flying is under lower height
More accurately position.In this context, path planning is carried out to the flight path of unmanned plane.
Basic thought are as follows: there are also when certain horizontal distance, unmanned plane directly carries out in high-altitude straight from target level point
Line flight is lowered vertically into when entering in the range of target point apart from ground 8m, then carries out intelligent obstacle, and most Zhongdao
Up to above the 8m of target point (hereinafter referred to near-earth region), then vertical landing.Simplified schematic diagram is as shown in Figure 6.
Observe Fig. 6, it can be seen that three-dimensional coordinate is reduced to two-dimensional coordinate.Using unmanned plane position and the time three
Tie up coordinate (x1,x2,x3), A* intelligence pathfinding algorithm is used for reference to plan flight path of the unmanned plane in low latitude.
All instructions of unmanned plane are all issued by turn-key system, and turn-key system is divided into two subsystems: pathfinding and avoidance system
System, monitoring system.The two respectively works independently, system block diagram such as Fig. 7.
Path planning and barrier-avoiding method based on time point, advantage: it is more macroscopical, because the position of all unmanned planes is all
Know, it is possible to calculate the time that unmanned plane is put by some, evacuation is made in all passage path adjustment in advance.Similar high moral is navigated
When route recommendation.Congestion is avoided to avoid.
Plane is divided into square net first, artificially divides coordinate points, simplifies region of search.In conjunction with real-time positioning, it is
System has been simplified to the Three-Dimensional Dynamic array A=[a being made of coordinate and time1(x1,x2,x3),a2(x1,x2,x3),…,am
(x1,x2,x3)], wherein m is integer, with the quantity and route dynamic change of unmanned plane；x1,x2Indicate the position coordinates of unmanned plane,
x3Indicate time coordinate.Each element of array is a square of grid, and there are two types of states for square: can by with can not lead to
It crosses.Path is described as the set of the square passed through from A to B.Once path is found, unmanned plane is just from square center of a lattice (I
Be known as " node ") move towards another, until arriving at the destination, the characteristics of this system be the entire traveling process of unmanned plane without
It needs to pause.
Assuming that in t0At the moment, No. 1 unmanned plane is from starting point A to terminal B is wanted, and at current time, No. 1 will do following search:
Since point A, and using it as a point deposit one " opening list " to be processed.It carves at the beginning, in table
Only one element, but later will be more and more.The grid that No. 1 final path may include by it, it is also possible to will not.
Substantially, this is a grid list to be checked.
Mark the direction of travel of current unmanned plane, direction of travel be up and down one of those, if unmanned plane rotation 90
The consuming of degree is C1, the consuming for rotating 180 degree is C2(C1, C2It for fixed value, is set according to actual conditions).
It finds starting point and passable grid and unlatching list is added in they in four direction up and down, skipping can not lead to
The grid crossed.All these grids save paternal lattice of the point as A, with the description in path later.
Point A is deleted in list from opening, he is added to one " closing list ", saves all do not need again in list
The grid of inspection.
Then, selection, which is opened in list, closes on grid, substantially the repeatedly process of front.The selection of target grid is main
Concern.Provide path score value
F=G+H+C1+C2
Here, G is indicated from starting point A, along the path of generation, is moved on grid and is specified the mobile consuming of grid, this
Process unmanned plane only makes a move, so G=1.H indicates the consuming for being moved to final target point B from specified grid.
Euclidean distance and manhatton distance are introduced, wherein Euclidean distance are as follows:
Manhatton distance are as follows:
As can be seen that H is the process of an anticipation, the path that it can minimize unmanned plane is expended.
After above step generates No. 1 optimal travel path of unmanned plane, a three-dimensional array is obtained, each point contains
No. 1 unmanned plane marches to position and the time of the point.All elements in array are deposited into a new array, referred to as " work
Library ".The wherein calculation formula of time are as follows:
Wherein, t0Represent unmanned plane departure time, n90Represent the number of right-angled bend in the paths, n180Delegated path
In the number that turns through 180 degree, τtIt represents right-angled bend and expends the time, S delegated path total length, V represents unmanned plane average speed.
In t1Time, No. 2 unmanned planes enter near-earth region, repeat above-mentioned algorithm at this time, when obtaining the optimal of No. 2 unmanned planes
After three-dimensional array, it is compared with the data in work library, if it exists phase near point, then the point is marked as No. 2 unmanned planes not
Can progress point, programme path is until new coordinates measurement again.Regulation, under the premise of position coordinates are identical, when two points
When time difference was less than 2 seconds, the two points are considered as phase near point.
It repeats the above process, path planning is carried out to the unmanned plane that any time will land.
Real-time route monitors system:
Fully consider that the unmanned plane continuation of the journey being likely to occur in reality is insufficient, the emergency cases such as individual unmanned plane disconnectings.
A monitoring system, which must be designed, to carry out real-time position finding to the unmanned plane in full wafer near-earth region, when nothing of finding the problem
When man-machine, the location information of System Reports UAV targets is monitored, in order to which timely correction guarantees that turn-key system can continue to
Operation without any confusion.
Specifically: on the basis of the time of turn-key system, monitoring system every five seconds receives all unmanned planes in near-earth region
Two-dimensional coordinate, the route data by these coordinates plus each unmanned plane in temporal information at this time, and work library compares,
It sends a warning when target deviation route.Deviation detection algorithm specific formula is as follows:
Wherein, k1=1, k2=0.2, it is proportionality coefficient.x1,x2,x3Certain the unmanned plane coordinate received for the currently monitored system
Information.N indicates the grid number that the route of this unmanned plane passes through.As warning=1, system is sounded an alarm, and is not otherwise sent out
Alarm out.By the test of actual scene, setting is more than 1 meter or time deviation is more than five seconds when unmanned plane deviation route, it is believed that
Unmanned plane breaks down, can be with sets itself by adjusting the numerical value of proportionality coefficient.
As a result show: use above-mentioned algorithm, take at random two path plannings result as shown in Figure 8 (in figure 2 indicate can not
Pass through, 0 indicates to pass through).From figure 8, it is seen that whole system can operation without any confusion, can not only see nothing in figure
Man-machine route, moreover it is possible to which information at the time of predicting on route, in the case where map barrier is not very much, any time appoints
Meaning route unmanned plane can find arrival level point of the appropriate route without pause.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (4)
1. a kind of intelligent barrier avoiding method based on timing node, which is characterized in that mainly include the following steps:
Step 1: precise positioning: carrying out precise positioning to the real time position of target, obtain the coordinates of targets (x, y, t) of t moment；
Step 2: planning path:
A) plane is divided into square net, divides coordinate points, simplify region of search；
B) No. 1 target will from A to B, draw it is all from A to B can passage path, multilevel iudge goes out a fastest path, and will
This fastest path is stored in work library；
C) start plan No. 2 targets from C to D path, repeat No. 1 target selection path process, and by the path and work library
In path be compared, such as there is coincidence point, then judge the time difference, as too small such as the time difference, there are risk of collision, advise again
Draw route, after start plan No. 3 targets path and so on, repeat the above process.
2. intelligent barrier avoiding method according to claim 1, which is characterized in that the specific steps of the step 2 are as follows:
1) assume in t0At the moment, No. 1 target is from starting point A to terminal B is wanted, and at current time, No. 1 target will do following search: from point
A starts, and as a point deposit one " opening list " to be processed, carves at the beginning, opens only one element in table, but it
Element increases afterwards, forms a grid list to be checked；Mark the direction of travel of current goal；Find starting point up and down four
Passable grid and unlatching list is added in a direction, skip can not by grid；Point A is deleted in list from opening, and is added
Enter to one " closing list ", closes in list and save all grids for not needing to check again for；Then, selection is opened in list
Close on grid, repeat the process of front；
2) in t1Time, No. 2 targets enter near-earth region, and the data in the optimal three-dimensional array of No. 2 targets and work library are carried out
Compare, if it exists phase near point, then the point be marked as No. 2 targets can not progress point, an and node weight before the point
New programme path is until new coordinates measurement；
3) repetition is above-mentioned 1) with 2) process, and target progress path planning is newly added to any.
3. intelligent barrier avoiding method according to claim 1, which is characterized in that the step 1 specifically comprises the following steps:
1) using mixing least square method, directly processing receives pulse signal to base station by the pulse signal that UWB label issues
Time obtains positioning initial value；
2) with the point of Lagrange interpolation polynomial processing short distance, the accuracy of coordinate is improved；
It 3) will be because bad data caused by extraneous factor interference be rejected using outlier detection algorithm；
4) real-time coordinates of various discrete label are obtained with moving average filter, reaches the effect of optimization of positioning accuracy.
4. intelligent barrier avoiding method according to claim 1, which is characterized in that further include path detection, the set time receives
These coordinates are added temporal information by the two-dimensional coordinate of all targets in near-earth region, the road with each target in work library
Line number sends a warning according to comparing when target deviation route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910296738.XA CN110274596B (en) | 2019-04-14 | 2019-04-14 | Intelligent obstacle avoidance method based on time nodes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910296738.XA CN110274596B (en) | 2019-04-14 | 2019-04-14 | Intelligent obstacle avoidance method based on time nodes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110274596A true CN110274596A (en) | 2019-09-24 |
| CN110274596B CN110274596B (en) | 2023-03-14 |
Family
ID=67959539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910296738.XA Active CN110274596B (en) | 2019-04-14 | 2019-04-14 | Intelligent obstacle avoidance method based on time nodes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110274596B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836671A (en) * | 2019-11-14 | 2020-02-25 | 北京京邦达贸易有限公司 | Trajectory planning method, trajectory planning device, storage medium, and electronic apparatus |
| CN110887503A (en) * | 2019-12-06 | 2020-03-17 | 广州文远知行科技有限公司 | Moving track simulation method, device, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160210863A1 (en) * | 2015-01-19 | 2016-07-21 | The Aerospace Corporation | Autonomous nap-of-the-earth (anoe) flight path planning for manned and unmanned rotorcraft |
| CN106802668A (en) * | 2017-02-16 | 2017-06-06 | 上海交通大学 | Based on the no-manned plane three-dimensional collision avoidance method and system that binocular is merged with ultrasonic wave |
| US20170344007A1 (en) * | 2016-05-26 | 2017-11-30 | Korea University Research And Business Foundation | Method for controlling mobile robot based on bayesian network learning |
| CN107990903A (en) * | 2017-12-29 | 2018-05-04 | 东南大学 | A kind of indoor AGV paths planning methods based on improvement A* algorithms |
| CN109520504A (en) * | 2018-11-27 | 2019-03-26 | 北京航空航天大学 | A kind of unmanned plane inspection method for optimizing route based on grid discretization |
| CN109540136A (en) * | 2018-10-25 | 2019-03-29 | 广东华中科技大学工业技术研究院 | A kind of more unmanned boat collaboration paths planning methods |
-
2019
- 2019-04-14 CN CN201910296738.XA patent/CN110274596B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160210863A1 (en) * | 2015-01-19 | 2016-07-21 | The Aerospace Corporation | Autonomous nap-of-the-earth (anoe) flight path planning for manned and unmanned rotorcraft |
| US20170344007A1 (en) * | 2016-05-26 | 2017-11-30 | Korea University Research And Business Foundation | Method for controlling mobile robot based on bayesian network learning |
| CN106802668A (en) * | 2017-02-16 | 2017-06-06 | 上海交通大学 | Based on the no-manned plane three-dimensional collision avoidance method and system that binocular is merged with ultrasonic wave |
| CN107990903A (en) * | 2017-12-29 | 2018-05-04 | 东南大学 | A kind of indoor AGV paths planning methods based on improvement A* algorithms |
| CN109540136A (en) * | 2018-10-25 | 2019-03-29 | 广东华中科技大学工业技术研究院 | A kind of more unmanned boat collaboration paths planning methods |
| CN109520504A (en) * | 2018-11-27 | 2019-03-26 | 北京航空航天大学 | A kind of unmanned plane inspection method for optimizing route based on grid discretization |
Non-Patent Citations (1)
| Title |
|---|
| 陈友荣等: "辅助定位信标节点的移动路径规划算法研究", 《工程科学与技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836671A (en) * | 2019-11-14 | 2020-02-25 | 北京京邦达贸易有限公司 | Trajectory planning method, trajectory planning device, storage medium, and electronic apparatus |
| CN110836671B (en) * | 2019-11-14 | 2021-09-14 | 北京京邦达贸易有限公司 | Trajectory planning method, trajectory planning device, storage medium, and electronic apparatus |
| CN110887503A (en) * | 2019-12-06 | 2020-03-17 | 广州文远知行科技有限公司 | Moving track simulation method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110274596B (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106767860B (en) | A method of shortening intelligent automobile path planning search time based on heuristic search algorithm | |
| Puri et al. | Statistical profile generation for traffic monitoring using real-time UAV based video data | |
| US6604044B1 (en) | Method for generating conflict resolutions for air traffic control of free flight operations | |
| WO2021093474A1 (en) | Lawn mower navigation method and apparatus, and lawn mower | |
| CN102231235B (en) | A kind of traffic flow outlier detection localization method | |
| CN102169634B (en) | Priority evacuation control method for traffic congestion | |
| CN110274596A (en) | A kind of intelligent barrier avoiding method based on timing node | |
| CN105045274B (en) | A kind of intelligent shaft tower connected graph construction method for unmanned plane inspection trajectory planning | |
| CN101377887B (en) | Statistical method and apparatus for airliner delay | |
| CN108761576A (en) | A kind of X-band weather radar and precipitation station data fusion method and system | |
| Wang et al. | An adaptive and VANETs-based Next Road Re-routing system for unexpected urban traffic congestion avoidance | |
| CN106056643A (en) | Point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method and system | |
| Hossain et al. | A UAV-based traffic monitoring system for smart cities | |
| CN114756034B (en) | Robot real-time obstacle avoidance path planning method and device | |
| CN107454651A (en) | A kind of unmanned plane for communication relay is segmented Topology g eneration method | |
| CN103903468A (en) | Time early-warning method for traffic jam and device thereof | |
| CN109215399A (en) | A kind of termination environment intelligence stream interface driver generation method | |
| CN111578861A (en) | Power distribution network tree obstacle detection method and system | |
| CN110531782A (en) | Unmanned aerial vehicle flight path paths planning method for community distribution | |
| CN110084491A (en) | Based on the optimal air route blockage percentage appraisal procedure for passing through path under the conditions of convection weather | |
| Kurunathan et al. | Deep reinforcement learning for persistent cruise control in UAV-aided data collection | |
| CN113721653A (en) | Real-time planning system for flight path of aircraft | |
| CN105427675B (en) | Aircraft lands the Forecasting Methodology and device of time | |
| CN110207545A (en) | A kind of unmanned plane intercepting system | |
| CN115542307A (en) | High-speed scene multi-radar track fusion method based on high-precision map |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Building 15, Building A49, Emerging Industry Manufacturing Base, Yongchang Road, High tech Industrial Development Zone, Xianyang City, Shaanxi Province, 712000 Patentee after: Shaanxi Zhulong Intelligent Technology Co.,Ltd. Country or region after: China Address before: 710000 Student Activity Center of the South Campus of Xi'an University of Electronic Science and Technology, Xi'an City, Shaanxi Province 209 Patentee before: Xi'an Candledragon Intelligent Technology Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |