CN113359840A - Rapid construction method and system for three-dimensional space flight path of unmanned aerial vehicle - Google Patents
Rapid construction method and system for three-dimensional space flight path of unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a system for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle, wherein the method comprises the following steps: constructing a straight line path from the unmanned aerial vehicle flight starting point to the unmanned aerial vehicle flight end point; judging whether the straight path intersects with the obstacle or not according to the straight path, and finishing the path construction if the straight path does not intersect with the obstacle; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope; determining a flight path around the obstacle according to the obstacle envelope and the fixed cruising height of the unmanned aerial vehicle, and determining a flight path which flies over the crossed obstacle according to the straight path and the obstacle envelope; one flight path is selected according to the number of crossed obstacles and the length of the flight path, a feasible solution can be quickly constructed in a three-dimensional complex environment, the path searching efficiency is improved, and the method has high practical application value.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle.
Background
With the development of the internet of things and big data technology, unmanned aerial vehicles are widely applied to military and civil fields. Because the unmanned aerial vehicle has greater advantages in the aspects of mobility, cost and personal injury compared with vehicles, the unmanned aerial vehicle is widely applied to battlefield reconnaissance, border patrol, the environmental field, crop protection and transportation. As the key to the automatic flight of the unmanned aerial vehicle, the global path planning becomes more and more important. Global path planning is the creation of a list of waypoints in a complex environment of known obstacles according to fixed criteria. The drone can find the best path without colliding with the obstacle by sequentially visiting the waypoints in the list, while satisfying its performance constraints.
The traditional global path planning usually considers two-dimensional path planning and barrier-free airspace crossing at a constant height, while the actual unmanned aerial vehicle flies in a three-dimensional terrain, can change the height for flying, avoids colliding with a barrier, and is limited by the performance of the unmanned aerial vehicle (such as maximum climbing rate, turning radius and the like), and the flying scene is more complicated.
The path planning of the unmanned aerial vehicle in the three-dimensional space brings out a new problem, namely the problem of three-dimensional obstacle avoidance flight of the unmanned aerial vehicle. The problem is an extension and extension of the traditional unmanned aerial vehicle path planning problem. It not only needs to determine the best way for the drone to avoid the obstacle, whether to fly around or over the building, but also needs to take into account the performance constraints of the drone during flight. From two dimensions to three dimensions, the unmanned aerial vehicle flight height is limited not only by the increase of the dimensions, but also on the basis of the turning radius constraint. This makes it more difficult to construct a feasible path for the drone.
Aiming at the problem, the traditional path planning method is mainly decomposed into two steps, wherein the first step is to establish a plurality of paths from a starting point to an end point, and the second step is to search a high-quality path in the paths. This results in increased storage space and reduced search efficiency. How to improve the path search efficiency and efficiently construct a feasible path is an important research topic.
The applicant has found that at least the following problems exist in the prior art: unmanned aerial vehicle route search is inefficient, can increase storage space.
Disclosure of Invention
The embodiment of the invention solves the technical problem that the unmanned aerial vehicle path searching efficiency is low, and the storage space is increased.
In order to achieve the above object, in one aspect, an embodiment of the present invention provides a method for quickly constructing a three-dimensional flight path of an unmanned aerial vehicle, including the following steps:
constructing a straight line path from the unmanned aerial vehicle flight starting point to the unmanned aerial vehicle flight end point;
judging whether the straight path intersects with the obstacle or not according to the straight path, and finishing the path construction if the straight path does not intersect with the obstacle; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
and selecting one flight path according to the number of the crossed obstacles and the length of the flight path.
On the other hand, the embodiment of the invention provides a system for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle, which comprises the following steps:
a linear path construction unit for constructing a linear path from a flight starting point of the unmanned aerial vehicle to a flight ending point of the unmanned aerial vehicle;
the obstacle model generating unit is used for judging whether the straight path intersects with the obstacle or not according to the straight path, and if the straight path does not intersect with the obstacle, the path construction is finished; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
the path establishing unit is used for determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
and the path selection unit is used for selecting one flight path according to the number of the crossed obstacles and the length of the flight path.
The technical scheme has the following beneficial effects: the method provided by the invention can provide path planning meeting the performance of the unmanned aerial vehicle in a complex environment, and can quickly construct a feasible path under the condition of meeting the flight performance limit of the unmanned aerial vehicle, the flight path not only meets the flight characteristics and aviation management regulations of the unmanned aerial vehicle, such as turning radius, maximum distance, maximum height and the like, but also can quickly construct a feasible solution in a three-dimensional complex environment, so that the path searching efficiency is improved, and the method has higher practical application value.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for quickly constructing a three-dimensional flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a rapid construction system for a three-dimensional space flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is an obstacle envelope diagram of a first implementation manner of a method for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is an obstacle envelope diagram of a second implementation manner of a method for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic view of a flight path point of an unmanned aerial vehicle according to the rapid construction method for a three-dimensional flight path of an unmanned aerial vehicle provided in the embodiment of the present invention;
fig. 6 is a schematic view of flight path points of a first implementation manner of flying over an obstacle according to a method for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic view of flight path points of a second implementation manner of flying over an obstacle according to a method for quickly constructing a three-dimensional space flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a diagram of a flight motion model of an unmanned aerial vehicle according to a method for rapidly constructing a three-dimensional flight path of the unmanned aerial vehicle provided in the embodiment of the present invention;
fig. 9 is an elliptic cylinder envelope diagram with 5 obstacles of a method for quickly constructing a three-dimensional flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 10 is an elliptic cylinder envelope with 5 obstacles and a flight path diagram of a method for quickly constructing a three-dimensional flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 11 is a flight path diagram with 5 obstacles of a method for quickly constructing a three-dimensional flight path of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a rapid construction method of a three-dimensional space flight path of an unmanned aerial vehicle, which comprises the following steps as shown in figure 1:
s101: constructing a straight line path from the unmanned aerial vehicle flight starting point to the unmanned aerial vehicle flight end point;
given a starting point S and an end point E, some obstacles O are present on the way1，O2，…，ONOur goal is to generate a path from S to E that meets drone flight characteristics and aviation management regulations such as turn radius, maximum distance, maximum altitude, etc. A straight path is first constructed from the starting point to the end point.
S102: judging whether the straight path intersects with the obstacle or not according to the straight path, and finishing the path construction if the straight path does not intersect with the obstacle; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
for each obstacle OiRecording its center as (x)i，yi，zi) Length, width and height are denoted as 2a, 2b and h, respectivelyiAnd θ is the inclination of the semi-major axis. The drone flies away from the obstacle to avoid collisions, r being the minimum radius of the drone from the obstacle.
For each obstacle, its obstacle model, i.e. the obstacle envelope as shown in fig. 3, is constructed. When flight height z is less than obstacle OiHeight h ofiThe obstacle can be considered as an ellipse (elliptic cylinder envelope).
S103: determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
s104: and selecting one flight path according to the number of the crossed obstacles and the length of the flight path.
For both the approach and the approach, the final path is selected according to the number of intersections between the path and the obstacle and the height of the obstacle and the departure point. It is contemplated that although there are times when there are more intersecting obstacles flying through a building, it is possible to keep the flying height around multiple obstacles in the next path, thereby reducing the path length. So we choose to fly over the obstacle as much as possible.
And after one flight path is selected according to the number of the crossed obstacles and the length of the flight path, generating three sub-paths based on the Dubins path, selecting one sub-path from the three sub-paths according to the rules of the number of the obstacles and the length of the flight path, flying along the selected sub-path, repeating the process of avoiding the obstacles until the unmanned aerial vehicle reaches the flight destination, and obtaining a conflict-free Dubins three-dimensional path from the starting point to the destination.
The Dubins curve is the shortest path connecting two-dimensional points, and restricts the target to travel only forward, provided that the curvature constraint and the prescribed start (entering direction) and end (flying direction) are satisfied. When constructing a three-dimensional Dubins path, the coordinates of the initial point and the terminal point, as well as the heading angle and the flight path angle are required. The initial point and the end point coordinates can be obtained by the previous path point selection scheme.
The determining a flight path around the intersecting obstacles according to the obstacle envelope and a fixed cruising altitude of the drone comprises:
determining an ellipse according to the obstacle envelope and the fixed cruising height of the unmanned aerial vehicle to obtain an ellipse tangent line;
generating two flight paths around the intersected obstacles according to the intersection points of the elliptic tangent lines;
and selecting one flight path according to the number of the crossed obstacles and the angle of the path deviating from the straight path.
The determining a flight path for flying over the intersected obstacle according to the straight path and the obstacle envelope comprises:
and determining a path point through which the obstacle flies according to the intersection point of the straight path and the obstacle envelope and the height of the obstacle.
The obstacle envelope model is:
when the flight height z is less than the height h of the obstacleiThe method comprises the following steps:
great flying heightAt the height of the obstacle (z is more than or equal to h)i) The method comprises the following steps:
wherein: for each intersecting obstacle, the center coordinate is (x)i，yi，zi) The length, width and height of each intersecting barrier are noted as 2a, 2b and h respectivelyiTheta is the inclination of the semi-major axis, r is the minimum radius of the drone from the obstacle, z is the flight altitude, hiIs the height of the obstacle.
The invention also provides a system for quickly constructing the three-dimensional space flight path of the unmanned aerial vehicle, as shown in fig. 2, comprising:
a straight path construction unit 101 for constructing a straight path from the flight starting point of the unmanned aerial vehicle to the flight ending point of the unmanned aerial vehicle;
given a starting point S and an end point E, some obstacles O are present on the way1，O2，…，ONOur goal is to generate a path from S to E that meets drone flight characteristics and aviation management regulations such as turn radius, maximum distance, maximum altitude, etc. A straight path is first constructed from the starting point to the end point.
An obstacle model generating unit 102, configured to determine whether the straight path intersects an obstacle or not according to the straight path, and if the straight path does not intersect the obstacle, the path construction is finished; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
for each obstacle OiRecording its center as (x)i，yi，zi) Length, width and height are denoted as 2a, 2b and h, respectivelyiAnd θ is the inclination of the semi-major axis. The drone flies away from the obstacle to avoid collisions, r being the minimum radius of the drone from the obstacle.
For each obstacle, constructing an obstacle mold thereofType i.e. obstacle envelope as shown in fig. 3. When flight height z is less than obstacle OiHeight h ofiThe obstacle can be considered as an ellipse (elliptic cylinder envelope).
The path establishing unit 103 is used for determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
and a path selection unit 104, configured to select one of the flight paths according to the number of intersecting obstacles and the length of the flight path.
For both the approach and the approach, the final path is selected according to the number of intersections between the path and the obstacle and the height of the obstacle and the departure point. It is contemplated that although there are times when there are more intersecting obstacles flying through a building, it is possible to keep the flying height around multiple obstacles in the next path, thereby reducing the path length. So we choose to fly over the obstacle as much as possible.
After selecting one of the flight paths based on the number of intersecting obstacles and the flight path length, the system further comprises:
and the sub-path establishing unit is used for generating three sub-paths based on the Dubins path, selecting one sub-path from the three sub-paths according to the rules of the number of the obstacles and the path length, flying along the selected sub-path, repeating the process of avoiding the obstacles until the unmanned aerial vehicle reaches the flight destination, and obtaining a conflict-free Dubins three-dimensional path from the starting point to the destination.
The Dubins curve is the shortest path connecting two-dimensional points, and restricts the target to travel only forward, provided that the curvature constraint and the prescribed start (entering direction) and end (flying direction) are satisfied. When constructing a three-dimensional Dubins path, the coordinates of the initial point and the terminal point, as well as the heading angle and the flight path angle are required. The initial point and the end point coordinates can be obtained by the previous path point selection scheme.
The path establishing unit includes:
the ellipse tangent module is used for determining an ellipse according to the obstacle envelope and the fixed cruising height of the unmanned aerial vehicle to obtain an ellipse tangent;
the flight path winding module is used for generating two flight paths which wind the intersected obstacles according to the intersection point of the elliptic tangent lines;
and the fly-around path selection module is used for selecting one flight path according to the number of the crossed obstacles and the angle of the path deviating from the straight path.
The path establishing unit further includes:
and the flying path module is used for determining a path point through which the obstacle flies according to the intersection point of the straight path and the obstacle envelope and the height of the obstacle.
The obstacle envelope model is:
when the flight height z is less than the height h of the obstacleiThe method comprises the following steps:
when the flying height is larger than the height of the barrier (z is more than or equal to h)i) The method comprises the following steps:
wherein: for each intersecting obstacle, the center coordinate is (x)i，yi，zi) The length, width and height of each intersecting barrier are noted as 2a, 2b and h respectivelyiTheta is the inclination of the semi-major axis, r is the minimum radius of the drone from the obstacle, z is the flight altitude, hiIs the height of the obstacle.
The method provided by the invention can provide path planning meeting the performance of the unmanned aerial vehicle in a complex environment, and can quickly construct a feasible path under the condition of meeting the flight performance limit of the unmanned aerial vehicle, the flight path not only meets the flight characteristics and aviation management regulations of the unmanned aerial vehicle, such as turning radius, maximum distance, maximum height and the like, but also can quickly construct a feasible solution in a three-dimensional complex environment, so that the path searching efficiency is improved, and the method has higher practical application value.
The above technical solutions of the embodiments of the present invention are described in detail below with reference to specific application examples, and reference may be made to the foregoing related descriptions for technical details that are not described in the implementation process.
Example 1:
the problem of the flight path of the drone can be described as the presence of some obstacles O en route, given a starting point S and an end point E1，O2，…，ONOur goal is to generate a path from S to E that meets drone flight characteristics and regulations from aviation management such as turn radius, maximum distance, maximum altitude, etc.
For each obstacle OiRecording its central coordinate as (x)i，yi，zi) Length, width and height are denoted as 2a, 2b and h, respectivelyiAnd θ is the inclination of the semi-major axis. The drone flies away from the obstacle to avoid collisions, r being the minimum radius of the drone from the obstacle.
For each obstacle, we construct its obstacle model, i.e. find the obstacle envelope as shown in fig. 3, 4. When flight height z is less than obstacle OiHeight h ofiWhen, the obstacle can be considered as an ellipse, and the ellipse equation is:
when the flying height is larger than the height of the barrier (z is more than or equal to h)i) The formula of the obstacle is:
the unmanned aerial vehicle must comply with the following rules in flight:
maximum distance: the unmanned aerial vehicle is subjected to maximum flight in the flight processDistance LmaxAssuming that there are M points, the flight distance of the drone satisfies the following equation.
Wherein d (P)i-1，Pi) Representative point Pi-1To point PiThe distance of (c).
Minimum turning radius: considering the flight performance of the drone, its course variation is not arbitrary and is limited by the minimum turning radius, so the minimum turning radius R needs to be considered in the path planning.
Maximum height: due to the restrictions of urban policies and aviation system regulations, the flying height of the drone is limited, and therefore it is considered that the flying height of the drone does not exceed the maximum flying height H.
The patent provides a rapid construction method of a three-dimensional space flight path of an unmanned aerial vehicle, and the method is divided into two modes of flying over and bypassing when avoiding obstacles. The method is characterized in that a straight line path from a starting point to an end point is constructed, whether the straight line path intersects with an obstacle or not is judged, and if the straight line path does not intersect with the obstacle, the path construction is finished; if the intersected obstacle exists, recording the first obstacle intersected with the path, and generating an obstacle model, namely an elliptic cylinder envelope. Determining an ellipse based on the elliptic cylinder and the fixed cruising height, generating two path points flying around the building based on tangent lines of the ellipse, and determining the path point passing by the flying building based on the intersection point of the original path and the elliptic cylinder. And then generating three sub-paths based on the Dubins path, selecting one sub-path from the three sub-paths based on the rules of obstacle avoidance and path length, flying along the sub-path, repeating the process to avoid the obstacle until reaching a target point, and obtaining a conflict-free Dubins three-dimensional path from the starting point to the end point. The main steps of the process are shown in table 1.
TABLE 1 unmanned aerial vehicle three-dimensional obstacle avoidance scheme
Example 2:
and (3) a fly-around scheme:
we use a tangent-based approach to generate waypoints that pass around the obstacle. The method mainly comprises the following steps:
1. firstly, determining an obstacle intersected with an original path;
2. determining an ellipse based on a plane where the elliptic cylinder and the fixed cruising height are located;
3. making an ellipse tangent line based on the starting point and the end point;
4. generating two path points flying around the obstacle based on the intersection points of the tangent lines;
5. one of the waypoints is selected based on the number of intersecting obstacles and the angle of departure.
Because the fly-around is performed at the same height, we can use the top view shown in fig. 5 for analysis to facilitate visual understanding. We generate a straight path from O to D, and there are 5 obstacles in FIG. 5, where the obstacles colliding with the original path are B1And B5。B1The first obstacle to intersect it. We do from O and D, respectively, to obstacle B1And are respectively marked as OL1，OL2，DL1，DL2The tangent lines respectively intersect at L1And L2And (4) point. If L is1And L2And not in other obstacles, it can be used as an alternative path point for left and right fly-around. Respectively connecting the starting point O and the path point L1And L2Judging whether collision exists, selecting points which intersect with obstacles as little as possible as path points, considering the angle of the path deviating from a pre-planned path on the basis of considering the number of intersecting obstacles, selecting the path points with the smallest deviation angle, and finally selecting L2And (4) point.
A flying scheme:
for flying over obstacles, we consider that the drone flies over the encountered obstacles directly, considering that it does not deviate from the pre-planned path as much as possible. First, as with the fly-around approach, the first obstacle to intersect is determined. And determining the passing path point of the flying building according to the intersection point of the original route and the ellipse, and then determining the flying path point according to the height of the obstacle.
As shown in fig. 6 and 7, the original path OD and the obstacle B1The ellipses formed intersect P 'and Q', respectively, depending on the height h of the obstacle1Determining the height coordinate of the flying point P and Q as h1+ r, r is the safe distance that should be kept from the obstacle. If h is1+r<H, P and Q are taken as path points of the flying obstacle.
And (3) a path point selection scheme:
for both the approach and the approach, the final path point is selected according to the number of intersections between the path and the obstacle and the heights of the obstacle and the departure point. It is contemplated that although there are times when there are more intersecting obstacles flying through a building, it is possible to keep the flying height around multiple obstacles in the next path, thereby reducing the path length. So we choose to fly through the building as much as possible. The specific selection scheme is shown in table 2.
Table 2 waypoint selection scheme
In fact, we can prove C OP0. Since the flying point is determined by the first crossing obstacle, there is no obstacle between it and the starting point.
Three-dimensional Dubins path construction scheme
The Dubins curve is the shortest path connecting two-dimensional points, and restricts the target to travel only forward, provided that the curvature constraint and the prescribed start (entering direction) and end (flying direction) are satisfied. When constructing a three-dimensional Dubins path, the coordinates of the initial point and the terminal point, as well as the heading angle and the flight path angle are required. The initial point and end point coordinates may be obtained from a previous waypoint selection scheme, which describes how the angles of the waypoints are determined.
Similarly to the actual case, for an initial point, the angle is determined by the point to be visited next, and each subsequent point is determined by the previous point.
Point O (x) as in FIG. 8O，yO，zO),D(xD，yD，zD) Is two waypoints in close proximity, the heading angle and the waypoint angle at D are (x, y, z) — (x) the direction vector V (x, y, z) between the ODsD-xO，yD-yO，zD-zO) And (6) determining. The relationship between the heading and path angles γ and the direction vector according to the power equation is as follows:
wherein V | |. From the above equation solution we can determine the heading angle ψ and the path angle γ as follows:
example 3:
in order to verify the effectiveness of the algorithm, a small-scale case is designed in an experiment and solved. In a case, the starting point is S (0, 0) and the end point is D (20, 20). The relevant parameters are respectively the maximum flying height H equal to 10, the safety distance R equal to 1, the cruising height X equal to 5 and the minimum turning radius R equal to 1. Comprising 5 obstacles, the elliptic cylindrical envelope of which is shown in figure 9,
in the path planning process, the original path is intersected with two obstacles, the first obstacle is considered to be bypassed, and the intersected obstacles exist in both left and right detours, so that the final scheme selects to fly over a building, the path which directly flies back to the terminal point after flying over is intersected with the obstacles, at the moment, the airplane keeps the original height to fly over the obstacles, the path safely passes through the terminal point and flies back to the terminal point, the total path length is 33.29, the running time is 120s, and the path meets the limitations of the airplane such as the turning radius. Fig. 10 and 11 show a flight scenario including obstacles and a pure drone flight path, respectively. The Dubins path is constructed using the classical RRT algorithm, and no feasible solution is found in this time.
Experimental results show that the algorithm can provide path planning meeting the performance of the unmanned aerial vehicle in a complex environment. Therefore, the algorithm has high practical application value.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A rapid construction method for a three-dimensional space flight path of an unmanned aerial vehicle is characterized by comprising the following steps:
constructing a straight line path from the unmanned aerial vehicle flight starting point to the unmanned aerial vehicle flight end point;
judging whether the straight path intersects with the obstacle or not according to the straight path, and finishing the path construction if the straight path does not intersect with the obstacle; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
and selecting one flight path according to the number of the crossed obstacles and the length of the flight path.
2. The method as claimed in claim 1, wherein after one flight path is selected according to the number of intersecting obstacles and the length of the flight path, three sub-paths are generated based on the Dubins path, one sub-path is selected from the three sub-paths according to the rules of the number of obstacles and the length of the flight path, the unmanned aerial vehicle flies along the selected sub-path, and the process of avoiding obstacles is repeated until the unmanned aerial vehicle reaches the flight destination, so that a collision-free Dubins three-dimensional path from the starting point to the destination is obtained.
3. The method for rapidly constructing the flight path of the unmanned aerial vehicle in the three-dimensional space according to claim 1, wherein the determining the flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height comprises:
determining an ellipse according to the obstacle envelope and the fixed cruising height of the unmanned aerial vehicle to obtain an ellipse tangent line;
generating two flight paths around the intersected obstacles according to the intersection points of the elliptic tangent lines;
and selecting one flight path according to the number of the crossed obstacles and the angle of the path deviating from the straight path.
4. The method for rapidly constructing the flight path of the three-dimensional space of the unmanned aerial vehicle according to claim 1, wherein the determining the flight path of the intersected obstacle according to the straight path and the obstacle envelope comprises:
and determining a path point through which the obstacle flies according to the intersection point of the straight path and the obstacle envelope and the height of the obstacle.
5. The method for rapidly constructing the flight path of the three-dimensional space of the unmanned aerial vehicle according to claim 1, wherein the obstacle envelope model is:
when the flight height z is less than the height h of the obstacleiThe method comprises the following steps:
when the flying height is larger than the height of the barrier (z is more than or equal to h)i) The method comprises the following steps:
wherein: for each intersecting obstacle, the center coordinate is (x)i,yi,zi) The length, width and height of each intersecting barrier are noted as 2a, 2b and h respectivelyiThe units are all meters; θ is the inclination of the semi-major axis in degrees; r is the minimum radius of the drone from the obstacle in meters; z is the flight height in meters; h isiIs the height of the obstacle; the unit is meter.
6. The utility model provides a quick construction system of unmanned aerial vehicle three-dimensional space flight path which characterized in that includes:
a linear path construction unit for constructing a linear path from a flight starting point of the unmanned aerial vehicle to a flight ending point of the unmanned aerial vehicle;
the obstacle model generating unit is used for judging whether the straight path intersects with the obstacle or not according to the straight path, and if the straight path does not intersect with the obstacle, the path construction is finished; if the intersected obstacles exist, recording the obstacles intersected with the straight path, and then generating a corresponding obstacle model according to the obstacles intersected with the straight path, wherein the obstacle model is an obstacle envelope;
the path establishing unit is used for determining a flight path around the intersected obstacle according to the obstacle envelope and the unmanned aerial vehicle fixed cruising height, and determining a flight path flying over the intersected obstacle according to the straight path and the obstacle envelope;
and the path selection unit is used for selecting one flight path according to the number of the crossed obstacles and the length of the flight path.
7. The system of claim 6, wherein after selecting one flight path according to the number of crossed obstacles and the length of the flight path, the system further comprises:
and the sub-path establishing unit is used for generating three sub-paths based on the Dubins path, selecting one sub-path from the three sub-paths according to the rules of the number of the obstacles and the path length, flying along the selected sub-path, repeating the process of avoiding the obstacles until the unmanned aerial vehicle reaches the flight destination, and obtaining a conflict-free Dubins three-dimensional path from the starting point to the destination.
8. The system of claim 6, wherein the path establishing unit comprises:
the ellipse tangent module is used for determining an ellipse according to the obstacle envelope and the fixed cruising height of the unmanned aerial vehicle to obtain an ellipse tangent;
the flight path winding module is used for generating two flight paths which wind the intersected obstacles according to the intersection point of the elliptic tangent lines;
and the fly-around path selection module is used for selecting one flight path according to the number of the crossed obstacles and the angle of the path deviating from the straight path.
9. The system of claim 6, wherein the path establishing unit further comprises:
and the flying path module is used for determining a path point through which the obstacle flies according to the intersection point of the straight path and the obstacle envelope and the height of the obstacle.
10. The system of claim 6, wherein the obstacle envelope model is:
when the flight height z is less than the height h of the obstacleiThe method comprises the following steps:
when the flying height is larger than the height of the barrier (z is more than or equal to h)i) The method comprises the following steps:
wherein: for each intersecting obstacle, the center coordinate is (x)i,yi,zi) The length, width and height of each intersecting barrier are noted as 2a, 2b and h respectivelyiThe units are all meters; θ is the inclination of the semi-major axis in degrees; r is the minimum radius of the drone from the obstacle in meters; z is the flight height in meters; h isiIs the height of the obstacle; the unit is meter.
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