CN112987776A - Single-machine fault return path planning method and system, unmanned aerial vehicle and storage medium - Google Patents
Single-machine fault return path planning method and system, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle path planning, and discloses a method and a system for planning a single-machine fault return path, an unmanned aerial vehicle and a storage medium, which are used for modeling unmanned aerial vehicle formation path planning and return path planning; determining the number, the fault time and the fault position of the fault unmanned aerial vehicle, confirming a return point, and planning the individual path of the return unmanned aerial vehicle; planning an avoidance path of the non-return unmanned aerial vehicle; and sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation, and executing tasks according to the planning results. According to the invention, the return path can be generated in the flight task executed by the formation of the unmanned aerial vehicles, the failed return unmanned aerial vehicles are guided, the failure of the single unmanned aerial vehicles and even collision accidents are avoided, the economic loss is reduced, and the safety and the stability of the application of the formation of the unmanned aerial vehicles are improved. According to the invention, after the return unmanned aerial vehicle breaks away from formation, the remaining unmanned aerial vehicles continue to resume executing tasks, and a set target is completed.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to a single-machine fault return path planning method and system, an unmanned aerial vehicle and a storage medium.
Background
At present, unmanned aerial vehicle formation is used as a complex comprehensive system, a plurality of uncertain factors exist in the operation state, and the mechanical mechanism, the power electronic system and other systems of the unmanned aerial vehicle formation can break down. The failure unmanned aerial vehicle single machine belongs to obstacles and unstable factors in formation, and accidents are easily caused. The dynamic return flight of the fault single machine of the unmanned aerial vehicle formation is a key technology for solving the problem and improving the application safety of the formation.
Although the prior art has a plurality of unmanned aerial vehicle path planning methods, the prior art does not have a technology for performing independent path planning on a failed unmanned aerial vehicle, when one unmanned aerial vehicle fails in an unmanned aerial vehicle formation, all unmanned aerial vehicles must return to the air, and the failed unmanned aerial vehicle has the possibility of generating single-machine out of control and even collision accidents, so that economic loss is caused.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the prior art does not have a technology for carrying out independent path planning on a fault unmanned aerial vehicle;
(2) the existing unmanned aerial vehicles form a formation to execute flight tasks, path planning cannot be respectively carried out on a failed unmanned aerial vehicle and a non-failed unmanned aerial vehicle, and when the failed unmanned aerial vehicle occurs, the rest unmanned aerial vehicles cannot continuously execute the tasks;
(3) to the single-machine out of control of trouble unmanned aerial vehicle and the collision accident that consequently leads to, prior art can't effectively avoid and solve.
The difficulty in solving the above problems and defects is:
the flight performance of the fault return unmanned aerial vehicle is different from that of the common unmanned aerial vehicle, so that the path planning method is also different. The time and the position of the fault are random, and high real-time performance is needed.
The significance of solving the problems and the defects is as follows:
can realize trouble unmanned aerial vehicle's returning voyage, reduce the loss, promote unmanned aerial vehicle formation safety in application.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a single-machine fault return path planning method, a single-machine fault return path planning system, an unmanned aerial vehicle and a storage medium.
The invention is realized in such a way that a planning method for a fault return path of a single unmanned aerial vehicle formation machine comprises the following steps:
firstly, modeling unmanned aerial vehicle formation path planning and return path planning;
determining the number, the fault time and the fault position of the fault unmanned aerial vehicle, confirming a return point, and planning the individual path of the return unmanned aerial vehicle;
step three, planning an avoidance path of the non-return unmanned aerial vehicle; and sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation, and executing tasks according to the planning results.
Further, in the step one, before modeling the formation path planning and the return path planning of the unmanned aerial vehicles, the following steps are required:
establishing a space rectangular coordinate system W; three axes x of the space rectangular coordinate system WW,yW,zWPointing east, south and sky, respectively.
Further, in the first step, the modeling of the formation path plan and the return path plan of the unmanned aerial vehicles includes:
and establishing an unmanned aerial vehicle position model, an unmanned aerial vehicle formation path model and an unmanned aerial vehicle return and avoidance path model based on the established space rectangular coordinate system.
Further, the drone location model is as follows: the drone position in space is denoted (x, y, z) in units of m;
the initial formation position of the formation of the unmanned aerial vehicles is expressed as:
S＝[S1,S2,S3,...,Sn]；
wherein n represents the number of drones;
the end formation position of the formation of the unmanned aerial vehicles is expressed as follows:
E＝[E1,E2,E3,...,En]；
the formation position of the formation of the unmanned aerial vehicles at a certain time t is represented as:
Mt＝[Mt1,Mt2,Mt3,...,Mtn]；
wherein S isn,En,MtnAre all position points in W.
Further, the unmanned aerial vehicle formation path model is as follows:
all paths for formation of drones are denoted as:
where p represents the number of waypoints.
Further, the unmanned aerial vehicle return and avoidance path model is as follows:
the return path B is represented as follows:
B＝[Mti,B2,…,Br-1,Si]；
the avoidance path H is represented as follows:
wherein t represents the time when the dynamic return path planning is started, i represents the number of the failed unmanned aerial vehicle, r represents the length of the return path of the failed unmanned aerial vehicle, and q represents the length of the avoidance path.
Further, in step two, the determining the number, the fault time and the fault position of the faulty unmanned aerial vehicle, determining a return point, and performing individual path planning on the return unmanned aerial vehicle comprises:
1) obtaining position M of fault unmanned aerial vehicle at fault moment ttiAnd position M of other unmanned aerial vehicles in formationtConfirming the point of return Si；
2) Confirmation of return voyage target point ES based on arc guiding methodi(ii) a Modifying the inner and outer layer influencing distance parameter rho of repulsion1＝5m、ρ2＝10m；
3) Modifying the maximum moving step length l to be 0.04 m; calculating repulsion and attraction, and determining a next step path point;
4) repeating the steps 2) to 3) until the return unmanned aerial vehicle reaches a return position Bq＝Si(ii) a Returning to the moment t, and calculating the formation of the remaining unmanned aerial vehicles in MtPath H to E.
Further, in step three, the executing the task according to the planning result includes:
and the failed unmanned aerial vehicle navigates back according to the planning result of the return path, and the remaining unmanned aerial vehicles in the formation of the unmanned aerial vehicles carry out avoidance of the failed unmanned aerial vehicle according to the planning result of the obstacle avoidance path and continue to execute tasks.
Another object of the present invention is to provide a system for planning a failure return path of a formation unit of unmanned aerial vehicles, which implements the method for planning a failure return path of a formation unit of unmanned aerial vehicles, the system for planning a failure return path of a formation unit of unmanned aerial vehicles comprising:
the model construction module is used for modeling the formation path planning and the return path planning of the unmanned aerial vehicles;
the fault data acquisition module is used for determining the serial number, the fault time and the fault position of the fault unmanned aerial vehicle;
the return planning module is used for confirming a return point and planning the individual path of the return unmanned aerial vehicle based on the determined number, fault time and fault position of the fault unmanned aerial vehicle;
the avoidance path planning module is used for planning an avoidance path of the non-return unmanned aerial vehicle based on the number of the failed unmanned aerial vehicle, the failure time and the failure position;
and the execution module is used for sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation and executing tasks according to the planning results.
Another object of the present invention is to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to execute the method for planning a return route for a single-machine failure of a formation of unmanned aerial vehicles.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the invention, the return path can be generated in the flight task executed by the formation of the unmanned aerial vehicles, the failed return unmanned aerial vehicles are guided, the failure of the single unmanned aerial vehicles and even collision accidents are avoided, the economic loss is reduced, and the safety and the stability of the application of the formation of the unmanned aerial vehicles are improved.
The unmanned aerial vehicle safe return flight control system can realize safe return flight of a fault unmanned aerial vehicle, simultaneously enlarges the safe distance between the fault unmanned aerial vehicle and other unmanned aerial vehicles, effectively avoids collision and improves safety. According to the invention, after the return unmanned aerial vehicle breaks away from formation, the remaining unmanned aerial vehicles continue to resume executing tasks, and a set target is completed.
Technical effect or experimental effect of comparison.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic diagram of a method for planning a return route of a single unmanned aerial vehicle formation machine failure according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for planning a return route of a single unmanned aerial vehicle formation machine failure according to an embodiment of the present invention.
Fig. 3 is a model for planning an avoidance and return route according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a system for planning a return route of a failure of a single unmanned aerial vehicle formation machine according to an embodiment of the present invention;
in the figure: 1. a model building module; 2. a fault data acquisition module; 3. a return planning module; 4. an avoidance path planning module; 5. and executing the module.
Fig. 5 is a flowchart of a method for planning a return route of a single unmanned aerial vehicle formation machine failure according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method for planning a return route of a single machine fault of an unmanned aerial vehicle formation, and the invention is described in detail below by combining the attached drawings.
As shown in fig. 1-2, the method for planning the return route of the single machine failure of the formation of the unmanned aerial vehicle provided by the embodiment of the invention comprises the following steps:
s101, modeling unmanned aerial vehicle formation path planning and return path planning;
s102, determining the number, the fault time and the fault position of the fault unmanned aerial vehicle, confirming a return point, and planning the individual path of the return unmanned aerial vehicle;
s103, planning an avoidance path of the non-return unmanned aerial vehicle; and sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation, and executing tasks according to the planning results.
In step S101, before modeling the formation path planning and return path planning of the unmanned aerial vehicles according to the embodiment of the present invention, the following steps are performed:
establishing a space rectangular coordinate system W; three axes x of the space rectangular coordinate system WW,yW,zWPointing east, south and sky, respectively.
In step S101, the modeling of the formation path planning and return path planning of the unmanned aerial vehicles according to the embodiment of the present invention includes:
and establishing an unmanned aerial vehicle position model, an unmanned aerial vehicle formation path model and an unmanned aerial vehicle return and avoidance path model based on the established space rectangular coordinate system.
The unmanned aerial vehicle position model provided by the embodiment of the invention is as follows: the drone position in space is denoted (x, y, z) in units of m;
the initial formation position of the formation of the unmanned aerial vehicles is expressed as:
S＝[S1,S2,S3,...,Sn]；
wherein n represents the number of drones;
the end formation position of the formation of the unmanned aerial vehicles is expressed as follows:
E＝[E1,E2,E3,...,En]；
the formation position of the formation of the unmanned aerial vehicles at a certain time t is represented as:
Mt＝[Mt1,Mt2,Mt3,...,Mtn]；
wherein S isn,En,MtnAre all made ofThe position point in W.
The unmanned aerial vehicle formation path model provided by the embodiment of the invention is as follows:
all paths for formation of drones are denoted as:
where p represents the number of waypoints.
As shown in fig. 3, the model of the return and avoidance path of the unmanned aerial vehicle provided by the embodiment of the present invention is as follows:
the return path B is represented as follows:
B＝[Mti,B2,…,Br-1,Si]；
the avoidance path H is represented as follows:
wherein t represents the time when the dynamic return path planning is started, i represents the number of the failed unmanned aerial vehicle, r represents the length of the return path of the failed unmanned aerial vehicle, and q represents the length of the avoidance path.
In step S102, the determining of the number, the time and the position of the fault unmanned aerial vehicle, the determining of the return point, and the planning of the individual path of the return unmanned aerial vehicle provided by the embodiment of the present invention include:
1) obtaining position M of fault unmanned aerial vehicle at fault moment ttiAnd position M of other unmanned aerial vehicles in formationtConfirming the point of return Si；
2) Confirmation of return voyage target point ES based on arc guiding methodi(ii) a Modifying the inner and outer layer influencing distance parameter rho of repulsion1＝5m、ρ2＝10m；
3) Modifying the maximum moving step length l to be 0.04 m; calculating repulsion and attraction, and determining a next step path point;
4) repeating the steps 2) to 3) until the return unmanned aerial vehicle reaches a return position Bq＝Si(ii) a Back toAt the moment t, calculating the formation of the remaining unmanned aerial vehicles in MtPath H to E.
In step S103, the task execution according to the planning result provided by the embodiment of the present invention includes:
and the failed unmanned aerial vehicle navigates back according to the planning result of the return path, and the remaining unmanned aerial vehicles in the formation of the unmanned aerial vehicles carry out avoidance of the failed unmanned aerial vehicle according to the planning result of the obstacle avoidance path and continue to execute tasks.
As shown in fig. 4, the system for planning the return route of the single unmanned aerial vehicle formation unit fault provided by the embodiment of the present invention includes:
the model building module 1 is used for modeling the formation path planning and return path planning of the unmanned aerial vehicles;
the fault data acquisition module 2 is used for determining the serial number, the fault time and the fault position of the fault unmanned aerial vehicle;
the return planning module 3 is used for confirming a return point and planning the individual path of the return unmanned aerial vehicle based on the determined number, fault time and fault position of the fault unmanned aerial vehicle;
the avoidance path planning module 4 is used for planning an avoidance path of the non-return unmanned aerial vehicle based on the number of the failed unmanned aerial vehicle, the failure time and the failure position;
and the execution module 5 is used for sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation and executing tasks according to the planning results.
The technical solution of the present invention is further described below with reference to specific examples.
Example 1:
the invention discloses a method for planning a return route of a single fault of an unmanned aerial vehicle formation machine, which comprises the following steps:
the method comprises the following steps: determining that the unmanned aerial vehicle formation system has a fault;
step two: judging the number, the fault time and the fault position of the fault unmanned aerial vehicle;
step three: confirming a back-navigation point;
step four: individual path planning of return unmanned aerial vehicle
Step five: planning an avoidance path of the non-return unmanned aerial vehicle.
Step six: and sending the planning result to an unmanned aerial vehicle formation, and executing a flight task by the system.
Example 2:
1. a method for planning a return route of a fault of a single unmanned aerial vehicle formation machine comprises the following specific steps:
step 1: modeling unmanned aerial vehicle formation path planning and return path planning problems;
step 2: determining the number, the fault time and the fault position of the fault unmanned aerial vehicle;
and step 3: confirming a back-navigation point;
and 4, step 4: and planning a return route.
And 5: planning an avoidance path of the non-return unmanned aerial vehicle.
Step 6: and sending the planning result to an unmanned aerial vehicle formation, and executing a flight task by the system.
2. A method for planning a return route of a single machine fault of unmanned aerial vehicle formation is characterized by establishing a route planning model of the unmanned aerial vehicle formation. And establishing a spatial rectangular coordinate system W. Three axes x of WW,yW,zWPointing east, south and sky, respectively. The drone position in space is denoted (x, y, z) in m.
Assuming a total of n drones, the initial formation position of the formation of drones is expressed as:
S＝[S1,S2,S3,...,Sn]
the end formation position of the formation of the unmanned aerial vehicles is expressed as follows:
E＝[E1,E2,E3,...,En]
the formation position of the unmanned aerial vehicle formation at a certain time t is represented as
Mt＝[Mt1,Mt2,Mt3,...,Mtn]
Wherein S isn,En,MtnAre all position points in W.
From this, the goal of unmanned aerial vehicle formation is: the formation changes from S to E.
Suppose that p path points are planned in total throughout the formation change. Then all paths of the formation of drones in the process can be represented as:
when the need of returning the flight of part unmanned aerial vehicle appears, need for returning the flight unmanned aerial vehicle and formation planning and return and dodge the route, if begin to plan the dynamic route of returning the flight at moment t, trouble unmanned aerial vehicle serial number is i, and trouble unmanned aerial vehicle returns the flight path length and is r, dodges path length and is q, then returns the flight path and can indicate as B, dodges the route and can indicate as H.
B＝[Mti,B2,…,Br-1,Si]
3. A method for planning a return route of a fault of a single unmanned aerial vehicle formation machine is characterized in that a route planning algorithm comprises the following specific flows:
when the unmanned aerial vehicle of returning a journey breaks down, probably some sensors or executor take place slight trouble, and the flight control and the route of following the precision to unmanned aerial vehicle become low. At the moment, the parameters of path planning are adjusted, the flight acceleration and the maximum speed of the unmanned aerial vehicle are reduced, and the safety distance is increased.
The specific implementation method is as follows:
(1) confirming position M of fault unmanned aerial vehicle at fault moment ttiAnd position M of other unmanned aerial vehicles in formationt。
(2) Confirmation of a point of return SiReady to solve for B
(3) Confirmation of return voyage target point ES based on arc guiding methodi
(4) Modifying the inner and outer layer influencing distance parameter rho of repulsion1＝5m、ρ2＝10m
(5) The modified maximum moving step length l is 0.04m
(6) Calculating repulsive force and attractive force to determine next step path point
(7) Repeating (3-6) until the return unmanned aerial vehicle reaches a return position Bq＝Si
(8) Returning to the moment t, and calculating the formation of the remaining unmanned aerial vehicles in MtPath H to E.
The whole flow is shown in figure 1.
4. A planning method for a return route of a single fault of an unmanned aerial vehicle formation machine is characterized in that the calculated return route is sent to the unmanned aerial vehicle formation machine, the system can automatically execute the return function, and the remaining unmanned aerial vehicles in the formation machine can continuously execute tasks.
The technical effects of the present invention will be further explained in conjunction with simulation experiments.
And injecting a fault into one unmanned aerial vehicle in the formation to reduce the control precision of the unmanned aerial vehicle. Increase this unmanned aerial vehicle and formation's interval this moment, reduce flying speed simultaneously, accomplish the action of returning a journey. The simulated planned path is shown in fig. 5. The minimum distance between the unmanned aerial vehicle formation and the fault unmanned aerial vehicle is enlarged, and avoidance maneuver is realized. Meanwhile, the flying speed of the fault unmanned aerial vehicle is reduced and the fault unmanned aerial vehicle returns to a take-off and landing point. To achieve the desired design goal.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for planning a failure return path of a single unmanned aerial vehicle formation machine is characterized by comprising the following steps:
establishing an unmanned aerial vehicle position model, an unmanned aerial vehicle formation path model and an unmanned aerial vehicle return and avoidance path model based on the established space rectangular coordinate system;
and determining the number, the fault time and the fault position of the fault unmanned aerial vehicle, confirming a return point, and planning the individual path of the return unmanned aerial vehicle.
2. The method for planning the return route of the unmanned aerial vehicle formation unit fault as claimed in claim 1, wherein the established spatial rectangular coordinate system comprises:
establishing a space rectangular coordinate system W; three axes x of the space rectangular coordinate system WW,yW,zWPointing east, south and sky, respectively.
3. The method for planning a return flight path for a single failure of a formation of unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicle location model comprises: the drone position in space is denoted (x, y, z) in units of m;
the initial formation position of the formation of the unmanned aerial vehicles is expressed as:
S＝[S1,S2,S3,...,Sn]；
wherein n represents the number of drones;
the end formation position of the formation of the unmanned aerial vehicles is expressed as follows:
E＝[E1,E2,E3,...,En]；
the formation position of the formation of the unmanned aerial vehicles at a certain time t is represented as:
Mt＝[Mt1,Mt2,Mt3,...,Mtn]；
wherein S isn,En,MtnAre all position points in W.
4. The method for planning the return route of the unmanned aerial vehicle formation unit in case of failure as claimed in claim 1, wherein the unmanned aerial vehicle formation route model comprises:
all paths for formation of drones are denoted as:
where p represents the number of waypoints.
5. The method for planning a return path for a single failure of an unmanned aerial vehicle formation unit according to claim 1, wherein the model of the return and avoidance paths of the unmanned aerial vehicle comprises:
the return path B is represented as follows:
B＝[Mti,B2,…,Br-1,Si]；
the avoidance path H is represented as follows:
wherein t represents the time when the dynamic return path planning is started, i represents the number of the failed unmanned aerial vehicle, r represents the length of the return path of the failed unmanned aerial vehicle, and q represents the length of the avoidance path.
6. The method for planning the return route of the single unmanned aerial vehicle formation machine in the fault according to claim 1, wherein the determining the number, the fault time and the fault position of the faulty unmanned aerial vehicle, the confirming the return point and the planning of the individual route of the return unmanned aerial vehicle comprise:
1) obtaining position M of fault unmanned aerial vehicle at fault moment ttiAnd position M of other unmanned aerial vehicles in formationtConfirming the point of return Si；
2) Confirmation of return voyage target point ES based on arc guiding methodi(ii) a Modifying the inner and outer layer influencing distance parameter rho of repulsion1＝5m、ρ2＝10m；
3) Modifying the maximum moving step length l to be 0.04 m; calculating repulsion and attraction, and determining a next step path point;
4) repeating the steps 2) to 3) until the return unmanned aerial vehicle reaches a return position Bq＝Si(ii) a Returning to the moment t, and calculating the formation of the remaining unmanned aerial vehicles in MtPath H to E.
7. The method for planning the return flight path for the failure of the unmanned aerial vehicle formation unit as claimed in claim 1,
determining the number, the fault time and the fault position of the fault unmanned aerial vehicle, confirming a return point, and planning an avoidance path of the non-return unmanned aerial vehicle after planning the individual path of the return unmanned aerial vehicle; sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation, and executing tasks according to the planning results;
the executing the task according to the planning result comprises the following steps:
and the failed unmanned aerial vehicle navigates back according to the planning result of the return path, and the remaining unmanned aerial vehicles in the formation of the unmanned aerial vehicles carry out avoidance of the failed unmanned aerial vehicle according to the planning result of the obstacle avoidance path and continue to execute tasks.
8. The utility model provides an unmanned aerial vehicle formation unit trouble route planning system that returns, its characterized in that, unmanned aerial vehicle formation unit trouble route planning system that returns includes:
the model construction module is used for modeling the formation path planning and the return path planning of the unmanned aerial vehicles;
the fault data acquisition module is used for determining the serial number, the fault time and the fault position of the fault unmanned aerial vehicle;
the return planning module is used for confirming a return point and planning the individual path of the return unmanned aerial vehicle based on the determined number, fault time and fault position of the fault unmanned aerial vehicle;
the avoidance path planning module is used for planning an avoidance path of the non-return unmanned aerial vehicle based on the number of the failed unmanned aerial vehicle, the failure time and the failure position;
and the execution module is used for sending planning results of the return path and the avoidance path of the unmanned aerial vehicle to the unmanned aerial vehicle formation and executing tasks according to the planning results.
9. An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle carries the unmanned aerial vehicle formation unit fault return path planning system of claim 8, and implements the unmanned aerial vehicle formation unit fault return path planning method of any one of claims 1 to 7.
10. A computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method for planning a return flight path for a single-machine formation of drones according to any one of claims 1 to 7.
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