CN112363408A - Method for constructing unmanned aerial vehicle air route virtual simulation model - Google Patents
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Abstract
The invention discloses a method for constructing a virtual simulation model of an unmanned aerial vehicle air route, which comprises the steps of firstly planning an air route path; calculating the flight track of the unmanned aerial vehicle according to the planned route of the route, obtaining route data, sending the route data to three-dimensional situation software, simulating a real environment, and making the route; sending the formulated route to three-dimensional situation software for flying; compared with the traditional simulation method, the virtual simulation construction method has strong functions, reduces development time, is more beneficial to use of users, and is simple to operate.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight, and relates to a method for constructing an unmanned aerial vehicle air route virtual simulation model.
Background
The simulation technology is a comprehensive technology which is based on similar theory, control theory, computer technology, information technology and professional technology in the application field, takes a computer and various physical effect devices as tools and utilizes a system model to carry out dynamic test research on an actual or assumed system. Generally, the realization of the flight simulation function of the air route can be completed only by the mutual interaction of the upper computer software, the lower computer and the flight control machine system, the operation is complicated, and manpower and material resources are wasted to a certain extent, so that a new technical method is needed for realizing the air route planning and the flight simulation, and the working efficiency of operators is improved.
Disclosure of Invention
The invention aims to provide a method for constructing a virtual simulation model of an unmanned aerial vehicle air line, which solves the problem of difficult operation in the existing unmanned aerial vehicle flight technology and realizes a system with strong operability and easy operation.
The invention adopts the technical scheme that a method for constructing an unmanned aerial vehicle air route virtual simulation model is implemented according to the following steps:
step 1, planning an airway path;
step 2, calculating the flight track of the unmanned aerial vehicle according to the route planned in the step 1 to obtain route data;
step 3, sending the path data obtained in the step 2 to three-dimensional situation software, simulating a real environment and making a route;
and 4, sending the formulated air route to the three-dimensional situation software for flying.
The invention is also characterized in that:
wherein the content of the step 1 specifically comprises: the planning of the route comprises environments in three fields of sea, land and air;
wherein the flight path calculation of unmanned aerial vehicle under marine environment specifically is:
adopting a wave algorithm: the sea wave effect needs to be simulated under the marine environment to achieve a relatively accurate result, because the sea wave is generated by a plurality of independent random variables, the sea wave can be regarded as a superposition of a plurality of random variables, and if the sea wave is a long-peak wave, the fluctuation eta (x, t) of a fixed point in the sea surface can be expressed as:
in the formula (I), the compound is shown in the specification,ζaiis the amplitude, k, of the ith cosine component waveiIs the number, ω, of the ith cosine component waveiFrequency of the i-th cosine component wave, epsiloniThe initial phase of the ith cosine component wave is a random number between 0 and 2 pi and is uniformly distributed;
the flight path calculation of the unmanned aerial vehicle in the land environment is specifically as follows:
adopting a land terrain following algorithm:
the algorithm used by the terrain following control system is an adaptive angular terrain following algorithm, which is as follows:
introduction of a suppression function FSThe basic purpose of the method is to ensure that the aircraft does not generate an overlarge flight path angle immediately when encountering an obstacle, and the aircraft can be pulled up in time by fully utilizing the maneuvering capability when approaching the obstacle, and an angle gain K is introduced on the basisγFurther exerting the maneuvering capability of the airplane, wherein the track angle expression of the airplane is as follows:
the selection of the inhibiting function FS should comprehensively consider the slant distance R measured by the radar, the flight speed V of the airplane, the current track inclination angle gamma and the maximum positive and negative normal overload nzmax,nzminNamely:
Fs＝f(R,V,γ,nzmax,nzmin) (3)
suppression function FSAlways positive, i.e. always decreasing the track-tilt command gamma during flightFLSo that the pulling-up of the aircraft route is delayed, and the slant range R measured by the radar is opposite to FSThe value works as long as it is functional; the larger R, the farther from the obstacle, the larger F is selectedSPostponing the pull-off point, as R decreases, FSThe effect of (2) also disappears gradually to ensure that the obstacle point is flown over; suppression function FSAnd radar range R can be described approximately as a three-piece linear function:
in order to ensure safety, the FS value during high-speed flight should be smaller than that during low-speed flight;
the flight path calculation of the unmanned aerial vehicle in the air environment is specifically as follows:
the target of the space motion is to realize three attitude angles and three translational displacements of the platform in the space motion, namely pitch, roll, yaw, vertical motion up and down, forward and backward translation and left and right translation, and a composite motion attitude of six attitudes, and the space target is realized by the strokes of six hydraulic cylinders, and if the target pitch, roll, yaw, vertical displacement up and down, forward and backward translation and left and right translation of the space motion are expressed by alpha, beta, gamma, X, Y and Z, the strokes of six oil cylinders are expressed by L (i) (i is 1, 2, 3, 4, 5 and 6), the whole motion model is as follows:
L(i)＝TT(α,β,γ,X,Y,Z) (5)
TT is a space conversion matrix model, the stroke of the hydraulic oil cylinder at each movement moment is calculated in real time, and the theoretical stroke of the hydraulic oil cylinder is converted through an interface to give an actual stroke value;
in step 2, the specific calculation process of turning in the flight path of the unmanned aerial vehicle is as follows:
firstly, performing curve fitting on an air route to meet the minimum flight radius, establishing a path of each segment once, quickly calculating a non-flyable path with a sharp angle near an unmanned aerial vehicle, and calculating a path far away from an airplane when the airplane flies to the lowest path, wherein the algorithm is as follows:
r is the curvature radius of each point on the spline curve, and the following conditions are satisfied:
R-Rmin≤0 (6)
in the formula, n is overload limit, and V is aircraft speed;
wherein in step 2, still include unmanned aerial vehicle low latitude flight when unmanned aerial vehicle flight path calculates and keep away the barrier, specific calculation process is:
an elastic band path planning algorithm is adopted, and the method specifically comprises the following steps:
first, connecting a starting point S and an end point G, and recording the path as P ═ S, G ], SG as an initial elastic band;
then judging whether the line segment SG intersects with the obstacle, namely collision detection, and adding a reference node:
if the SG does not intersect with the barrier, the SG is the required path;
if SG intersects with the barrier, the total number of the intersected barriers is k, the numbers of the intersected barriers at the time of initializing the barrier are recorded, then the intersected barriers are sequenced according to the intersection sequence of SG and the barrier, and the sequenced barrier sequence is recorded as ob ═ ob1，ob2，...，obi，...，obk]Ob denotes the number of the i-th obstacle intersecting the line segment SG; the intersection points of the line segments SG and the obstacles are sorted according to the order of intersecting the obstacles, and an intersection point vector is recorded as p ═ p1，p2，...，p2i-1，p2i，...，p2k-1，p2k]，p2i-1And p2iTwo intersection points representing the i-th obstacle intersecting the line segment SG; the intersection points located inside the obstacle are deleted to form a new vector r ═ r1，r2，...，rm](ii) a Adding a reference node, wherein the vector of the reference node is R ═ R1，R2，...，Ri，...，Rm/2]，Ri＝(r2i+r(2i+1)/2) (i ═ 1, 2., m/2-1), the path node becomes P ═ S, R1，R2，...，Rn-1，G](ii) a After the reference nodes are added, the line segment SG is divided into a plurality of line segments, and each line segment P is setiPi+1(i ═ 1, 2.., n) denotes, PiPi+1Namely a local path; the line segment SG is intersected with the four obstacles, three reference nodes are added, and the whole path is divided into four partial paths;
then calculating the divided local paths;
and finally, sequentially connecting each local path section, and integrally performing point removing operation to generate a global path.
The invention has the advantages that
Compared with the traditional simulation method, the method for constructing the unmanned aerial vehicle air route virtual simulation model has the advantages that the function is strong, the development time is reduced, the use of a user is facilitated, and the operation is simple.
Drawings
FIG. 1 is a flow chart of an unmanned aerial vehicle obstacle avoidance algorithm in a method for constructing an unmanned aerial vehicle route virtual simulation model provided by the invention;
FIG. 2 is a diagram of path division in an unmanned aerial vehicle obstacle avoidance algorithm in a method for constructing an unmanned aerial vehicle route virtual simulation model according to the present invention;
FIG. 3 is a complete path diagram after obstacle avoidance in an unmanned aerial vehicle obstacle avoidance algorithm in the method for constructing the virtual simulation model of the unmanned aerial vehicle air route.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a method for constructing an unmanned aerial vehicle air route virtual simulation model, which is implemented according to the following steps:
step 1, planning an airway path;
one or more paths can be selected for flight navigation simulation, and in order to enable simulation to have similarity and accuracy, various environments which can be encountered in an airway, including environments in three fields of sea, land and air, need to be simulated:
marine environments, including in particular: marine geographic environments such as islands, reefs, lighthouses, sunken ships, and the like; marine atmospheric environments such as wind, humidity, pressure, precipitation, visibility, etc.; marine hydrological environments such as ocean currents, tides, storms, swells and the like;
the terrain environment refers to gradient, interval and the like;
the flying environment balances the gravity of the earth by virtue of the lift force generated by air, and the simulation is carried out through 6 degrees of freedom to simulate the atmospheric characteristics;
step 2, calculating the flight track of the unmanned aerial vehicle according to the route planned in the step 1 to obtain route data;
the flight path calculation of the unmanned aerial vehicle in the marine environment is specifically as follows:
adopting a wave algorithm: when the unmanned aerial vehicle flies above the sea surface, in order to improve the safety of flight, the wave effect needs to be simulated to achieve a relatively accurate result, as the wave is generated by a plurality of independent random variables, the wave can be regarded as a superposition of a plurality of random variables, and if the wave is a long-peak wave, the fluctuation eta (x, t) of a fixed point in the sea surface can be expressed as:
in the formula, ζaiIs the amplitude, k, of the ith cosine component waveiIs the number, ω, of the ith cosine component waveiFrequency of the i-th cosine component wave, epsiloniThe initial phase of the ith cosine component wave is a random number between 0 and 2 pi and is uniformly distributed;
the flight path calculation of the unmanned aerial vehicle in the land environment specifically comprises the following steps:
the terrain following mainly means that an aircraft flies along the surface with certain clearance height in an undulating mode, an algorithm used by a terrain following control system is an adaptive angle terrain following algorithm, an adaptive angle method is an improvement of a diagonal command method, a concept of a suppression function is added to the algorithm, and the adaptive angle terrain following algorithm is as follows:
the basic purpose of introducing the suppression function FS is to ensure that the aircraft does not generate an overlarge flight path angle immediately when encountering an obstacle, and the aircraft can be pulled up in time by fully utilizing the maneuverability of the aircraft when approaching the obstacle, and an angle gain K is introduced on the basisγFurther exerting the maneuvering capability of the airplane, wherein the track angle expression of the airplane is as follows:
in the formula, beta is a radar scanning angle; theta is a pitch angle; r is radar ranging; h0The lowest altitude at which the airplane flies straight; gamma is a track inclination angle;
the selection of the inhibiting function FS should comprehensively consider the slant distance R measured by the radar, the flight speed V of the airplane, the current track inclination angle gamma and the maximum positive and negative normal overload nzmax,nzminNamely:
Fs＝f(R,V,γ,nzmax,nzmin) (3)
suppression function FSAlways positive, i.e. always decreasing the track-tilt command gamma during flightFLSo that the pulling-up of the aircraft route is delayed, and the slant range R measured by the radar is opposite to FSThe value works as long as it is functional; the larger R, the farther from the obstacle, the larger F is selectedSPostponing the pull-off point, as R decreases, FSThe effect of (2) also disappears gradually to ensure that the obstacle point is flown over; suppressing function F based on experience and preliminary mathematical simulationSAnd radar range R can be described approximately as a three-piece linear function:
for safety purposes, at high flight speeds FSThe value is smaller than the value of low-speed flight, so that the high-speed flight can be pulled up earlier, and the high-speed flight can not be pulled up in time to bump into an obstacle when approaching the obstacle;
the flight path calculation of the unmanned aerial vehicle in the air environment specifically comprises the following steps:
the target of the space motion is to realize three attitude angles and three translation displacements of the platform in the space motion, namely pitch, roll, yaw, vertical motion up and down, forward and backward translation and left and right translation, and a composite motion attitude of six attitudes, and the space target is realized by the strokes of six hydraulic cylinders, so that a motion model of a space is required to complete the conversion of the space motion, the pitch, the roll, the yaw, the vertical displacement up and down, the forward and backward translation and the left and right translation of the target of the space motion are expressed by alpha, beta, gamma, X, Y and Z, the strokes of the six hydraulic cylinders are expressed by L (i) (i is 1, 2, 3, 4, 5 and 6), and the whole motion model is as follows:
L(i)＝TT(α,β,γ,X,Y,Z) (5)
TT is a space conversion matrix model, the stroke of the hydraulic oil cylinder at each movement moment is calculated in real time, and the theoretical stroke of the hydraulic oil cylinder is converted through an interface to give an actual stroke value;
the six-degree-of-freedom motion platform can simulate the motion of the aircraft with six degrees of freedom, including pitching, rolling, yawing, vertical lifting, and transverse and longitudinal linear motions; simulating the movement caused by the change of various flight conditions of the airplane, such as atmospheric disturbance, weapon shooting and the like. Simulating landing ground attitude and collision and motions occurring when using a brake, and simulating vibration and buffeting at a frequency close to a real airplane frequency and buffeting introduced by atmospheric turbulence on a corresponding degree of freedom;
besides the adaptive flight trajectory calculation of the unmanned aerial vehicle in the sea, land and air environment, the operating characteristics of the unmanned aerial vehicle also need to be considered, and the problems of turning of the unmanned aerial vehicle in flight and obstacle avoidance in low-altitude flight are mainly solved;
the specific calculation process of turning in the flight path of the unmanned aerial vehicle is as follows:
considering that an unmanned aerial vehicle is constrained by a flight turning radius, a non-flyable sharp angle may exist in an air route, so that the unmanned aerial vehicle cannot fly according to a preset air route, and the flight safety of the unmanned aerial vehicle is possibly threatened, a path fitting algorithm for roughly planning the air route needs to be searched, and the air route meets the maneuvering stability requirement of the unmanned aerial vehicle. The invention performs curve fitting on the air route to meet the minimum flight radius. And establishing a path of each small section at one time, quickly calculating a non-flyable path with a sharp angle near the unmanned aerial vehicle, and calculating a path far away from the airplane when the airplane flies to the lowest path. This not only allows fast calculation but also fast response of the aircraft to new information. The algorithm is as follows:
r is the curvature radius of each point on the spline curve, and the following conditions are satisfied:
R-Rmin≤0 (6)
where n is the overload limit, V is the aircraft speed, RminAt minimum flight radius, VminIs the minimum speed of the aircraft;
as shown in fig. 1, the low-altitude flight obstacle avoidance function means that when the unmanned aerial vehicle executes a task in the low-altitude penetration defense, an optimal path is planned according to digital elevation map information, threat information and fuel consumption before the task is executed, and when the task is executed and sudden threats occur, according to temporary threat information, the unmanned aerial vehicle can load a reverse three-dimensional topographic map by using a radar, perform local re-planning on a flight path by using a routing algorithm, and also can re-plan a flyable path in real time by using an obstacle avoidance algorithm;
the unmanned aerial vehicle flight track still includes that the unmanned aerial vehicle flies in the low latitude and keeps away the barrier when calculating, and concrete calculation process is:
a general elastic band path planning algorithm starts from obstacle avoidance, optimization and target accessibility, and is based on a strategy of combining global planning and local planning to design a path searching method, mainly comprising the steps of representation of an environment space, generation of an initial elastic band, algorithm design of the elastic band for avoiding obstacles, method design for releasing points on the elastic band and the like, wherein the elastic band path planning algorithm is adopted, and the specific steps comprise:
first, connecting a starting point S and an end point G, and recording the path as P ═ S, G ], SG as an initial elastic band;
then judging whether the line segment SG intersects with the obstacle, namely collision detection, and adding a reference node:
if the SG does not intersect with the barrier, the SG is the required path;
if the SG intersects with the obstacles, setting k intersected obstacles in total, recording the numbers of the intersected obstacles when the obstacles are initialized, and then sequentially intersecting the obstacles according to the SGThe sequence is sequenced, and the sequence of the sequenced obstacles is recorded as ob ═ ob1，ob2，...，obi，...，obk]Ob denotes the number of the i-th obstacle intersecting the line segment SG; the intersection points of the line segments SG and the obstacles are sorted according to the order of intersecting the obstacles, and an intersection point vector is recorded as p ═ p1，p2，...，p2i-1，p2i，...，p2k-1，p2k]，p2i-1And p2iTwo intersection points representing the i-th obstacle intersecting the line segment SG; the intersection points located inside the obstacle are deleted to form a new vector r ═ r1，r2，...，rm](ii) a Adding a reference node, wherein the vector of the reference node is R ═ R1，R2，...，Ri，...，Rm/2]，Ri＝(r2i+r(2i+1)/2) (i ═ 1, 2., m/2-1), the path node becomes P ═ S, R1，R2，...，Rn-1，G](ii) a After the reference nodes are added, the line segment SG is divided into a plurality of line segments, and each line segment P is setiPi+1(i ═ 1, 2.., n) denotes, PiPi+1Namely a local path; the line segment SG intersects with the four obstacles, three reference nodes are added, and the whole path is divided into four partial paths as shown in fig. 2;
then calculating the divided local paths;
and finally, sequentially connecting each local path segment, and performing a point removing operation on the whole to generate a global path as shown in fig. 3.
Step 3, sending the path data obtained in the step 2 to three-dimensional situation software, simulating a real environment and making a route;
the method realizes automatic route planning, can be used for surveying and mapping or line patrol, and an operator can manually select points to generate templates of rectangles, polygons, circles, triangles, ellipses, S-shapes and the like, so that routes are automatically generated, and patrol is performed in the generated region. Information such as flight time, total voyage, pre-estimation of the number of shot photos and the like can be displayed to support setting of relevant parameters of the aerial survey, including coverage rate, shooting distance, flight height, flight path generation angle and the like;
step 4, after the air route is bound, controlling the air route data to be issued to the three-dimensional situation software through a construction method of a virtual simulation model;
when the navigation path is simulated, the required time, navigation points and other information are given, and the process simulation is carried out through commands of starting, pausing, continuing and stopping; and (3) the air route planning sends the air route path to the situation terrain software, the data transmission is carried out between the whole data by adopting udp, and the unmanned aerial vehicle flies according to the given air route data by constructing a virtual simulation model.
Claims (7)
1. A method for constructing an unmanned aerial vehicle air route virtual simulation model is characterized by comprising the following steps:
step 1, planning an airway path;
step 2, calculating the flight track of the unmanned aerial vehicle according to the route planned in the step 1 to obtain route data;
step 3, sending the path data obtained in the step 2 to three-dimensional situation software, simulating a real environment and making a route;
and 4, sending the formulated air route to the three-dimensional situation software for flying.
2. The method for constructing the virtual simulation model of the unmanned aerial vehicle airline according to claim 1, wherein the content of the step 1 specifically comprises: the planning of the route comprises environments in three fields of sea, land and air.
3. The method for constructing the virtual simulation model of the unmanned aerial vehicle air route according to claim 2, wherein the calculation of the flight trajectory of the unmanned aerial vehicle in the marine environment is specifically as follows:
adopting a wave algorithm: the sea wave effect needs to be simulated under the marine environment to achieve a relatively accurate result, because the sea wave is generated by a plurality of independent random variables, the sea wave can be regarded as the superposition of the plurality of random variables, and if the sea wave is a long-peak wave, the fluctuation eta (x, t) of a fixed point in the sea surface can be expressed as:
in the formula, ζaiIs the amplitude, k, of the ith cosine component waveiIs the number, ω, of the ith cosine component waveiFrequency of the i-th cosine component wave, epsiloniThe initial phase of the ith cosine component wave is a random number between 0 and 2 pi and is uniformly distributed.
4. The method for constructing the virtual simulation model of the unmanned aerial vehicle air route according to claim 2, wherein the calculation of the flight trajectory of the unmanned aerial vehicle in the land environment is specifically as follows:
adopting a land terrain following algorithm:
the algorithm used by the terrain following control system is an adaptive angular terrain following algorithm, which is as follows:
introduction of a suppression function FSThe basic purpose of the method is to ensure that the aircraft does not generate an overlarge flight path angle immediately when encountering an obstacle, and the aircraft can be pulled up in time by fully utilizing the maneuvering capability when approaching the obstacle, and an angle gain K is introduced on the basisγFurther exerting the maneuvering capability of the airplane, wherein the track angle expression of the airplane is as follows:
in the formula, beta is a radar scanning angle; theta is a pitch angle; r is radar ranging; h0The lowest altitude at which the airplane flies straight; gamma is a track inclination angle;
the selection of the inhibiting function FS should comprehensively consider the slant distance R measured by the radar, the flight speed V of the airplane, the current track inclination angle gamma and the maximum positive and negative normal overload nzmax,nzminNamely:
Fs＝f(R,V,γ,nzmax,nzmin) (3)
suppression function FSAlways positive, i.e. always decreasing the track-tilt command gamma during flightFLSo that the pulling-up of the aircraft route is delayed, and the slant range R measured by the radar is opposite to FSThe value works as long as it is functional; the larger R, the farther from the obstacle, the larger F is selectedSPostponing the pull-off point, as R decreases, FSThe effect of (2) also disappears gradually to ensure that the obstacle point is flown over; suppression function FSAnd radar range R can be described approximately as a three-piece linear function:
for safety, the FS value at high speed flight should be less than that at low speed flight.
5. The method for constructing the virtual simulation model of the unmanned aerial vehicle air route according to claim 2, wherein the calculation of the flight trajectory of the unmanned aerial vehicle in the air environment is specifically as follows:
the target of the space motion is to realize three attitude angles and three translational displacements of the platform in the space motion, namely pitch, roll, yaw, vertical motion up and down, forward and backward translation and left and right translation, and a composite motion attitude of six attitudes, and the space target is realized by the strokes of six hydraulic cylinders, and the target pitch, roll, yaw, vertical displacement up and down, forward and backward translation and left and right translation of the space motion are expressed by alpha, beta, gamma, X, Y and Z, the strokes of the six hydraulic cylinders are expressed by L (i) (i is 1, 2, 3, 4, 5 and 6), and the whole motion model is as follows:
L(i)＝TT(α,β,γ,X,Y,Z) (5)
TT is a space conversion matrix model, the stroke of the hydraulic oil cylinder at each movement moment is calculated in real time, and the theoretical stroke of the hydraulic oil cylinder is converted through an interface to give an actual stroke value.
6. The method for constructing the virtual simulation model of the unmanned aerial vehicle air route according to claim 1, wherein in the step 2, the specific calculation process of turning in the flight trajectory of the unmanned aerial vehicle is as follows:
firstly, performing curve fitting on an air route to meet the minimum flight radius, establishing a path of each segment once, quickly calculating a non-flyable path with a sharp angle near an unmanned aerial vehicle, and calculating a path far away from an airplane when the airplane flies to the lowest path, wherein the algorithm is as follows:
r is the curvature radius of each point on the spline curve, and the following conditions are satisfied:
R-Rmin≤0 (6)
where n is the overload limit, V is the aircraft speed, RminAt minimum flight radius, VminIs the minimum speed of the aircraft.
7. The method for constructing the virtual simulation model of the unmanned aerial vehicle airline of claim 1, wherein in the step 2, the unmanned aerial vehicle flight trajectory calculation further comprises unmanned aerial vehicle low-altitude flight obstacle avoidance, and the specific calculation process is as follows:
an elastic band path planning algorithm is adopted, and the method specifically comprises the following steps:
first, connecting a starting point S and an end point G, and marking the path as P ═ S, G ], SG as an initial elastic band;
then judging whether the line segment SG intersects with the obstacle, namely collision detection, and adding a reference node:
if the SG does not intersect with the barrier, the SG is the required path;
if SG intersects with the barrier, the total number of the intersected barriers is k, the numbers of the intersected barriers at the time of initializing the barrier are recorded, then the intersected barriers are sequenced according to the intersection sequence of SG and the barrier, and the sequenced barrier sequence is recorded as ob ═ ob1，ob2，...，obi，...，obk]Ob denotes the number of the i-th obstacle intersecting the line segment SG; the intersection points of the line segments SG and the obstacles are sorted according to the order of intersecting the obstacles, and an intersection point vector is recorded as p ═ p1，p2，...，p2i-1，p2i，...，p2k-1，p2k]，p2i-1And p2iTwo intersection points representing the i-th obstacle intersecting the line segment SG; the intersection points located inside the obstacle are deleted to form a new vector r ═ r1，r2，...，rm](ii) a Adding a reference node, wherein the vector of the reference node is R ═ R1，R2，...，Ri，...，Rm/2]，Ri＝(r2i+r(2i+1)/2) (i ═ 1, 2., m/2-1), the path node becomes P ═ S, R1，R2，...，Rn-1，G](ii) a After the reference nodes are added, the line segment SG is divided into a plurality of line segments, and each line segment P is setiPi+1(i ═ 1, 2.., n) denotes, PiPi+1Namely a local path; the line segment SG is intersected with the four obstacles, three reference nodes are added, and the whole path is divided into four partial paths;
then calculating the divided local paths;
and finally, sequentially connecting each local path section, and integrally performing point removing operation to generate a global path.
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| CN114167890A (en) * | 2021-11-29 | 2022-03-11 | 西安羚控电子科技有限公司 | Intelligent obstacle avoidance method for unmanned aerial vehicle |
| CN114237289A (en) * | 2021-12-14 | 2022-03-25 | 陕西掘金一号网络科技有限公司 | Method for planning obstacle avoidance path of aircraft |
| CN114237767A (en) * | 2022-02-24 | 2022-03-25 | 西安羚控电子科技有限公司 | System and method for realizing multi-speed simulation |
| CN114415726A (en) * | 2022-01-18 | 2022-04-29 | 江苏锐天智能科技股份有限公司 | Unmanned aerial vehicle obstacle avoidance control system and method based on image analysis |
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