CN114115353B - Formation obstacle avoidance method and device - Google Patents
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- CN114115353B CN114115353B CN202111501906.8A CN202111501906A CN114115353B CN 114115353 B CN114115353 B CN 114115353B CN 202111501906 A CN202111501906 A CN 202111501906A CN 114115353 B CN114115353 B CN 114115353B
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Abstract
The invention provides a formation obstacle avoidance method and device, comprising the steps of obtaining a track input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles; acquiring track point information of each following unmanned aerial vehicle in real time in the process of carrying out flight simulation on the following unmanned aerial vehicle according to the formation mode; when the initial track point is determined to be in the obstacle area, a target track point for obstacle avoidance is determined based on the track point information and the obstacle area so as to fly along with the unmanned aerial vehicle. In the scheme, in the process of simulating flight of the formation unmanned aerial vehicle, track point information of each following unmanned aerial vehicle is acquired in real time; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a formation obstacle avoidance method and device.
Background
When the tasks are complex and the flight area is large, the total tasks can be divided into a plurality of small tasks, and the tasks are respectively issued to different unmanned aerial vehicles in the formation, so that the functions of the unmanned aerial vehicles for forming the execution of the tasks are increasingly large. In the process of multi-unmanned aerial vehicle formation, each unmanned aerial vehicle needs to avoid external objects such as radars, and also needs to avoid the mutual influence of unmanned aerial vehicles, so that the formation of unmanned aerial vehicles needs to be planned.
At present, the obstacle avoidance of the multi-unmanned aerial vehicle formation is usually carried out by a pilot following method, namely a long-plane method, so that a certain unmanned aerial vehicle in the formation is set as a long plane, the tasks such as track planning and generation of the formation are responsible, and other planes track the long plane to realize formation shape maintenance. Due to the spread of tracking errors of long aircraft and other aircraft, and the robustness to long aircraft faults is poor. Or by using an artificial potential field method, the direction of the resultant force is calculated by setting an obstacle such as an external object as a repulsive force, setting a destination as an attractive force, and adding the vectors of the forces. When the target point is far or near, the attraction and the repulsion are large in difference, so that the unmanned aerial vehicle has the condition of obstacle avoidance failure.
In summary, the problem that the obstacle cannot be avoided accurately easily occurs when the unmanned aerial vehicle performs tasks in formation through the mode.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a formation obstacle avoidance method and device, so as to solve the problem that the obstacle avoidance cannot be performed accurately in the prior art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a first aspect of an embodiment of the present invention shows a formation obstacle avoidance method, the method including:
acquiring a track input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles;
in the process that the following unmanned aerial vehicle carries out flight simulation according to the formation mode following piloting unmanned aerial vehicle, acquiring track point information of each following unmanned aerial vehicle in real time, wherein the track point information comprises a current track point of the following unmanned aerial vehicle and an initial track point at the next moment, the track point information of the following unmanned aerial vehicle is calculated according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system;
and when the initial track point is determined to be in the obstacle area, determining a target track point for obstacle avoidance based on the track point information and the obstacle area so as to facilitate the following unmanned aerial vehicle to fly.
Optionally, the determining that the initial track point is in the obstacle region includes:
judging whether the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area or not;
and if the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area, determining that the initial track point is in the obstacle area.
Optionally, the method further comprises:
if the linear distance between the initial track point and the central point of the obstacle area is greater than the radius distance of the obstacle area, taking the initial track point as a target track point;
and if the linear distance between the initial track point and the central point of the obstacle area is equal to the radius distance of the obstacle area, taking the initial track point added with a preset margin as a target track point.
Optionally, determining the intersection points of the straight line connecting the initial track point and the central point of the obstacle area and the obstacle area, wherein the number of the intersection points is 2;
calculating Euclidean distance between the initial track point and the intersection point;
determining a target intersection point based on weights corresponding to Euclidean distances between the initial track point and the intersection point;
and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
Optionally, before the acquiring the user input acquires the user input track trajectory, the formation mode, the obstacle area and the number of following unmanned aerial vehicles, the method further comprises:
and planning a path based on the starting position, the target position and the obstacle area, and generating a track of the piloting unmanned aerial vehicle.
A second aspect of an embodiment of the present invention shows a formation obstacle avoidance device, the device comprising:
the first acquisition unit is used for acquiring the track locus input by the user, the formation mode, the obstacle area and the number of following unmanned aerial vehicles;
the second acquisition unit is used for acquiring the track point information of each following unmanned aerial vehicle in real time in the process of carrying out flight simulation on the following unmanned aerial vehicle according to the formation mode, wherein the track point information comprises the current track point of the following unmanned aerial vehicle and the initial track point at the next moment, the track point information of the following unmanned aerial vehicle is obtained by calculation according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system;
and the determining unit is used for determining a target track point for avoiding the obstacle based on the track point information and the obstacle area when the initial track point is determined to be in the obstacle area, so that the following unmanned aerial vehicle can fly conveniently.
Optionally, the determining unit is configured to determine that the initial track point is in an obstacle area, and is specifically configured to: judging whether the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area or not; if the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area, determining that the initial track point is in the obstacle area; and if the linear distance between the initial track point and the central point of the obstacle area is larger than the radius distance of the obstacle area, taking the initial track point as a target track point.
Optionally, the determining unit is further configured to: if the linear distance between the initial track point and the central point of the obstacle area is greater than the radius distance of the obstacle area, taking the initial track point as a target track point; and if the linear distance between the initial track point and the central point of the obstacle area is equal to the radius distance of the obstacle area, taking the initial track point added with a preset margin as a target track point.
Optionally, the determining unit for determining the target track point for obstacle avoidance based on the track point information and the obstacle area is specifically configured to: determining intersection points of a connecting line straight line between the initial track point and the central point of the obstacle area and the obstacle area, wherein the number of the intersection points is 2; calculating Euclidean distance between the initial track point and the intersection point; determining a target intersection point based on weights corresponding to Euclidean distances between the initial track point and the intersection point; and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
Optionally, the method further comprises:
the generation unit is used for carrying out path planning based on the starting position, the target position and the barrier area before the acquisition user inputs the track input by the acquisition user, the formation mode, the barrier area and the number of following unmanned aerial vehicles, and generating the track of the piloting unmanned aerial vehicle.
Based on the formation obstacle avoidance method and device provided by the embodiment of the invention, the method comprises the steps of obtaining a track input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles; in the process that the following unmanned aerial vehicle follows the piloting unmanned aerial vehicle to carry out flight simulation according to the formation mode, acquiring track point information of each following unmanned aerial vehicle in real time, wherein the track point information comprises a current track point and an initial track point at the next moment of the following unmanned aerial vehicle, the track point information of the following unmanned aerial vehicle is obtained by calculation according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system; when the initial track point is determined to be in the obstacle area, a target track point for obstacle avoidance is determined based on the track point information and the obstacle area so as to fly along with the unmanned aerial vehicle. In the embodiment of the invention, in the process of simulating flight of the formation unmanned aerial vehicle, track point information of each following unmanned aerial vehicle is acquired in real time; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. That is, when the initial track point is determined to be in the obstacle area, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a formation obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of track planning of a piloted unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of longitude changes in a formation flight process according to an embodiment of the present invention;
fig. 4 is a schematic diagram of latitude change in a formation flight process according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of altitude change in a formation flight provided by an embodiment of the present invention;
fig. 6 is a schematic flight diagram of a formation unmanned aerial vehicle without obstacle avoidance in the simulation process of the formation unmanned aerial vehicle provided by the embodiment of the invention;
fig. 7 is a schematic diagram of a situation that an unmanned aerial vehicle performs obstacle avoidance in a simulation process of a formation unmanned aerial vehicle provided by the embodiment of the invention;
FIG. 8 is a schematic diagram illustrating the generation of an intersection of an initial track point drop and a circular obstacle region provided by an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a formation obstacle avoidance device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another formation obstacle avoidance apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the embodiment of the invention, in the process of simulating flight of the formation unmanned aerial vehicle, track point information of each following unmanned aerial vehicle is acquired in real time; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. That is, when the initial track point is determined to be in the obstacle area, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Referring to fig. 1, a schematic flow chart of a formation obstacle avoidance method according to an embodiment of the present invention is shown, where the method includes:
step S101: and acquiring the number of the track tracks, the formation modes, the obstacle areas and the following unmanned aerial vehicles input by the user.
In the specific implementation process of step S101, the track trajectory input to the simulation system, the formation mode, the obstacle area and the number of following unmanned aerial vehicles are acquired.
It should be noted that the track trace may be a sequence of track points.
It is also necessary to input formation parameters and a drone start position (UAVpos) that is consistent with the first track point position.
The number of following unmanned aerial vehicles cannot exceed 20, namely, the upper limit number of unmanned aerial vehicles in the process of formation simulation is 21.
The obstacle region may be a circular obstacle region. Such as: enemy radars, generally, are presented to be periodically scanned over a range, and thus are approximately circular in view of the detection scan range.
Alternatively, to compensate for the inability of conventional visual methods to accommodate circular obstacle regions. In the embodiment of the invention, the polygon is divided into the right dodecagon with the circle center as the right center of the polygon and the radius of the circle as the inscription of the circle to form the polygon approaching circle.
The formation pattern (formationMode) includes a line formation, a triangle formation, a diamond formation, a formation transformation formation, a quadrangle winding formation, and the like, and may be, for example, a herringbone formation.
For example, the waypoint waypoints sequence may be [128,23,0,300;133,23,1200,400, wherein the first three columns represent the warp and weft heights of the track point and the fourth column represents the speed of the drone passing this track point.
The formation parameter (formation parameter) may be [ pi/8,0,50], where the formation parameter has different meanings under the influence of a formation mode (formation mode), and when the formation mode (formation mode) is 1, the formation mode is illustrated as a font, and the formation parameter may be sequentially expressed as an inclination angle of a formation relative to a speed direction, an inclination angle of the formation relative to a horizontal plane, and a distance of a connection line between the same side machines; when the formation mode is the herringbone, formation parameters can be expressed as the contained angle between the herringbone two sides of the unmanned aerial vehicle in turn at the moment, and the formation is relative to the contained angle of the horizontal plane, and the distance of the unmanned aerial vehicle is connected.
An Obstacle parameter (obstanding) may be set to [130,23.5,1000,100000], where the first three columns represent the longitude and latitude height of the map where the current Obstacle is located, and the last column represents the radius size of the Obstacle.
The conversion reference longitude and latitude height (lla_init) is set to [12,2,0], which refers to the reference point of the current formation, and is used when converting longitude and latitude coordinates and cartesian coordinates.
It should be noted that, when the formation and the path planning are performed on the actual longitude and latitude map, errors are easily caused, so that the longitude and latitude coordinates are first converted into cartesian coordinates, the related path planning and the formation are implemented by an algorithm, and the longitude and latitude coordinates are converted in real time and are displayed on the map.
Optionally, before acquiring the track trajectory input by the user, the method further includes:
and planning a path based on the starting position, the target position and the obstacle area, and generating a track of the piloting unmanned aerial vehicle.
In a specific implementation, a path planning is performed on a starting position, a target position and an obstacle area based on a visual method and Dijiestra fusion algorithm so as to generate a track of the piloting unmanned aerial vehicle.
And converting the track points in the generated track into a Cartesian coordinate system through longitude and latitude.
The cartesian coordinate system Cartesian coordinates is a generic term for rectangular coordinate systems and diagonal coordinate systems. I.e. two axes intersecting at the origin, constitute a planar affine coordinate system.
For example: as shown in fig. 2, in the path planning algorithm trajectory diagram shown in the embodiment of the present invention, a path is planned for a starting position, a target position and an obstacle region by using a algorithm of combining a visual method and dijkstra to generate a track trajectory of the piloting unmanned aerial vehicle, so that the piloting unmanned aerial vehicle can smoothly avoid the obstacle region, wherein the track trajectory, that is, a succession trajectory point included in a track point sequence, is 117.8 degrees east longitude, 21.4955 degrees north latitude, 118.2492 degrees east longitude and 21.6167 degrees north latitude, respectively.
Optionally, the unmanned aerial vehicle includes a piloting unmanned aerial vehicle and a following unmanned aerial vehicle, and the piloting unmanned aerial vehicle is a role unmanned aerial vehicle that acts as the leader in the formation, and the piloting unmanned aerial vehicle acts as the role of leading the formation in, and the following unmanned aerial vehicle all can regard the piloting unmanned aerial vehicle as the reference thing.
Step S102: and acquiring track point information of each following unmanned aerial vehicle in real time in the process that the following unmanned aerial vehicle carries out flight simulation according to the formation mode following piloting unmanned aerial vehicle.
In step S102, the track point information includes a current track point of the following unmanned aerial vehicle and an initial track point at a next moment, where the track point information of the following unmanned aerial vehicle is calculated according to a track trace of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a cartesian coordinate system.
In the embodiment of the invention, in order to adapt to path tracking in a three-dimensional environment, three-dimensional height can be obtained in the same proportion based on the distance proportion between the current point of the two-dimensional plane of the x-axis and the y-axis and the target point, and practical effects show that the mode can flexibly adapt to the height obtaining and avoid height step at the same time, so that the precise tracking of the piloting unmanned aerial vehicle can be realized through linear secondary regulators (Linear Quadratic Regulator, LQR). The specific three-dimensional high track points can be planned from the track point corresponding to the initial position to the track point of the target position according to the track.
For example: the unmanned aerial vehicle of whole formation, i.e. piloting unmanned aerial vehicle and follow unmanned aerial vehicle simulation flight's in-process in-formation all unmanned aerial vehicle near the obstacle longitude, latitude and altitude along with the change of flight distance, as shown in fig. 3 through 5, can avoid the regional obstacle of radar that sets up.
As shown in fig. 3, the starting position starts from a longitude of 128 degrees, and the larger the flight distance, the closer to the longitude of the target position 133 degrees, and at 1800 km, the closer to the target longitude 133.
As shown in fig. 4, the latitude is not changed when no obstacle area appears, and is kept at 23 degrees, and the latitude of formation flight is firstly reduced to 22.6 degrees when the obstacle area appears, and then the formation flight returns to normal after flying through the unmanned plane.
As shown in fig. 5, the flying height increases with time, starting from the horizon, until it is stationary.
In the specific implementation process of step S102, in the flight, in the simulation process, based on the formation mode, the formation parameters and the track locus of the piloting unmanned aerial vehicle, namely, the track point sequence, track point information of each following unmanned aerial vehicle is determined, and the current track point in the track point information of the following unmanned aerial vehicle and the initial track point at the next moment are subjected to longitude and latitude high conversion, so that the current track point and the initial track point at the next moment described by the cartesian coordinate system are obtained.
Step S103: and judging whether the initial track point is in the obstacle area, if so, executing step S104, if so, executing step S105, and if so, executing step S106.
In the specific implementation step S103, determining whether the linear distance between the initial track point and the center point of the obstacle region is smaller than the radius distance of the obstacle region, if the linear distance between the initial track point and the center point of the obstacle region is smaller than the radius distance of the obstacle region, determining that the initial track point is in the obstacle region, and executing step S104; if the linear distance between the initial track point and the center point of the obstacle region is greater than the radius distance of the obstacle region, executing step S105; if the linear distance between the initial track point and the center point of the obstacle region is equal to the radial distance of the obstacle region, step S106 is performed.
That is, the unmanned aerial vehicle is abstracted to a point, and the radar area of the enemy is abstracted to a circle. In each iteration process, step S104 is executed by determining the distance between the initial track point following the next moment of the unmanned aerial vehicle and the obstacle region, if the distance is smaller than the region radius in the obstacle region, and if the distance is greater than the region radius in the obstacle region, step S105 is executed. If the distance is equal to the area radius in the obstacle area, step S106 is performed.
Step S104: and determining a target track point for obstacle avoidance based on the track point information and the obstacle region so as to facilitate the following unmanned aerial vehicle to fly.
In the specific implementation process of step S104, a target track point for obstacle avoidance is determined according to the relation between the initial track point and the obstacle area at the next moment in the track point information, so as to facilitate the following unmanned aerial vehicle to fly.
Step S105: and taking the initial track point as a target track point.
In the specific implementation process of step S105, it is explained that the initial track point at the next moment is in the safe area, that is, the obstacle avoidance can be performed safely without the related obstacle avoidance algorithm, and the initial track point is determined to be the target track point.
Step S106: and taking the initial track point added with the preset margin as a target track point.
In the specific implementation process of step S106, a preset margin is directly added to the initial track point, so as to obtain a target track point for obstacle avoidance.
The preset margin refers to a predetermined margin, i.e., a range, which is preset.
The preset margin is set by a technician in advance according to a plurality of experiments.
Optionally, the method is adopted to avoid the obstacle for the track information of each following unmanned aerial vehicle until all flights in the formation fly to the target position.
Optionally, generating codes by using a visual simulation tool Simulink model in the process of performing flight simulation on the following unmanned aerial vehicle following the piloting unmanned aerial vehicle according to the formation mode, calling the generated codes to obtain a corresponding simulation result, and performing data analysis on the absolute simulation result.
It should be noted that, the code may be a programming language such as c++, and the embodiment of the present invention is not limited.
In the embodiment of the invention, in the process of simulating flight of the formation unmanned aerial vehicle, track point information of each following unmanned aerial vehicle is acquired in real time; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. That is, when the initial track point is determined to be in the obstacle area, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Based on the formation obstacle avoidance method shown in the embodiment of the present invention, in the process of executing step S104 to determine a target track point for obstacle avoidance based on the track point information and the obstacle region, the method includes the following steps:
step S11: and determining the intersection point of the straight line connecting the initial track point and the central point of the obstacle area and the obstacle area.
In step S11, the number of intersecting points is 2.
In the embodiment of the invention, in order to avoid the situation that the initial track point at the next moment appears in the obstacle area, namely the obstacle avoidance failure appears, the position of the initial track point at the next moment of the following unmanned aerial vehicle needs to be changed. As shown in fig. 6 and 7.
Fig. 6 is a schematic flight diagram of a formation unmanned aerial vehicle without obstacle avoidance in the simulation process of the formation unmanned aerial vehicle according to the embodiment of the invention.
Fig. 7 is a schematic diagram of a situation that an unmanned aerial vehicle performs obstacle avoidance in a simulation process of a formation unmanned aerial vehicle according to an embodiment of the present invention.
Wherein, the dotted line represents the pilot track, the point represents the obstacle region center point, and the circle represents the obstacle region.
In the specific implementation process of step S11, since the position of the initial track point following the next moment of the unmanned aerial vehicle and the position of the center point of the obstacle are a vector straight line, a relevant extension line of the straight line is made, so that two intersection points exist between the obstacle and the obstacle region.
Such as: when the initial track point following the next moment of the unmanned aerial vehicle falls in the circular obstacle area, an extension line is made between the initial track point and the central point of the circular obstacle area, so that the unmanned aerial vehicle is provided with two relevant intersection points, as shown in fig. 8, and then, which of the two intersection points is used as the next-step position point when the aircraft falls in the circle to avoid the obstacle, so that the requirement of avoiding the obstacle can be met.
Step S12: and calculating Euclidean distance between the initial track point and the intersection point.
In the embodiment of the invention, as the unmanned aerial vehicle has direction preference when approaching the obstacle area, particularly severe direction change cannot occur in two continuous time nodes for the formation aircraft, otherwise, the quality of the formation is affected. So after obtaining two intersection points of the current straight line and the circle, in the process of implementing step S12, the euclidean distance between the initial track point at the next moment and the two intersection points is calculated.
The euclidean distance (Euclidean distance) is also referred to as the euclidean distance, and the shortest line length in the n-dimensional space is the euclidean distance.
Step S13: and determining a target intersection point based on the weight corresponding to the Euclidean distance between the initial track point and the intersection point.
In the specific implementation step S13, corresponding weights are configured for the euclidean distance between each intersection point and the initial track, so as to determine which intersection point the following unmanned aerial vehicle falling into the obstacle area deviates towards, that is, the intersection point closest to the current track point and having the smallest distance from the center point of the obstacle area is the target intersection point.
It should be noted that, due to continuity of the aircraft positions, importance degrees of the intersections are analyzed to determine weights corresponding to each intersection. The weight coefficient corresponding to the intersection point which is close to the current position of the airplane is not limited to be larger than the weight coefficient of the other intersection point.
Step S14: and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
In the specific implementation process of step S14, a preset margin is directly added to the target intersection point, so as to obtain a target track point for obstacle avoidance.
In the embodiment of the invention, determining the intersection point of a connecting line between an initial track point and the central point of an obstacle area and the obstacle area; and calculating the Euclidean distance between the initial track point and the intersection point, and determining the target intersection point based on the weight corresponding to the Euclidean distance between the initial track point and the intersection point. And taking the target intersection point added with the preset margin as a target track point for obstacle avoidance. That is, when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Corresponding to the formation obstacle avoidance method shown in the embodiment of the present invention, the embodiment of the present invention also correspondingly discloses a formation obstacle avoidance device, as shown in fig. 9, which is a schematic structural diagram of the formation obstacle avoidance device shown in the embodiment of the present invention, where the device includes:
a first acquiring unit 901 is configured to acquire a track trajectory, a formation mode, an obstacle area, and the number of following unmanned aerial vehicles input by a user.
And the second obtaining unit 902 is configured to obtain, in real time, track point information of each following unmanned aerial vehicle in a process that the following unmanned aerial vehicle carries out flight simulation according to the formation mode following pilot unmanned aerial vehicle.
The track point information comprises a current track point of the following unmanned aerial vehicle and an initial track point at the next moment, the track point information of the following unmanned aerial vehicle is obtained by calculation according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system.
A determining unit 903, configured to determine, when it is determined that the initial track point is within an obstacle area, a target track point for obstacle avoidance based on the track point information and the obstacle area, so as to facilitate the following unmanned aerial vehicle to fly.
It should be noted that, the specific principle and the execution process of each unit in the formation obstacle avoidance apparatus disclosed in the above embodiment of the present invention are the same as those of the formation obstacle avoidance method shown in the above embodiment of the present invention, and reference may be made to corresponding parts in the formation obstacle avoidance method disclosed in the above embodiment of the present invention, and no redundant description is given here.
In the embodiment of the invention, in the process of simulating flight of the formation unmanned aerial vehicle, track point information of each following unmanned aerial vehicle is acquired in real time; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. That is, when the initial track point is determined to be in the obstacle area, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
Optionally, based on the formation obstacle avoidance apparatus shown in the foregoing embodiment of the present invention, the determining unit 903 is configured to determine that the initial track point is in the obstacle area, and is specifically configured to: judging whether the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area or not; if the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area, determining that the initial track point is in the obstacle area; and if the linear distance between the initial track point and the central point of the obstacle area is larger than the radius distance of the obstacle area, taking the initial track point as a target track point.
The determining unit 903 is further configured to: if the linear distance between the initial track point and the central point of the obstacle area is greater than the radius distance of the obstacle area, taking the initial track point as a target track point; and if the linear distance between the initial track point and the central point of the obstacle area is equal to the radius distance of the obstacle area, taking the initial track point added with a preset margin as a target track point.
Optionally, based on the formation obstacle avoidance apparatus shown in the foregoing embodiment of the present invention, based on the track point information and the obstacle area, a determining unit 903 for determining a target track point for obstacle avoidance is specifically configured to: determining intersection points of a connecting line straight line between the initial track point and the central point of the obstacle area and the obstacle area, wherein the number of the intersection points is 2; calculating Euclidean distance between the initial track point and the intersection point; determining a target intersection point based on weights corresponding to Euclidean distances between the initial track point and the intersection point; and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
Optionally, based on the formation obstacle avoidance apparatus shown in the foregoing embodiment of the present invention, referring to fig. 9, referring to fig. 10, the apparatus further includes a generating unit 904.
The generation unit is used for carrying out path planning based on the starting position, the target position and the barrier area before the acquisition user inputs the track, the formation mode, the barrier area and the following unmanned aerial vehicle number, and generating the track of the piloting unmanned aerial vehicle.
In the embodiment of the invention, the track locus of the piloting unmanned aerial vehicle is determined firstly, so that the track point information of each following unmanned aerial vehicle is acquired in real time in the process of carrying out simulated flight on the piloting unmanned aerial vehicle; when the initial track point is determined to be in the obstacle area, the position of the initial track point following the next moment of the unmanned aerial vehicle is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. That is, when the initial track point is determined to be in the obstacle area, the formation of the unmanned aerial vehicle is briefly destroyed, and the formation is resumed after the obstacle avoidance is finished. Through the mode, the unmanned aerial vehicle can accurately avoid the obstacle when the unmanned aerial vehicle is formed to execute tasks.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. 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 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. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention 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.
Claims (8)
1. A method of formation obstacle avoidance, the method comprising:
acquiring a track input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles;
in the process that the following unmanned aerial vehicle carries out flight simulation according to the formation mode following piloting unmanned aerial vehicle, acquiring track point information of each following unmanned aerial vehicle in real time, wherein the track point information comprises a current track point of the following unmanned aerial vehicle and an initial track point at the next moment, the track point information of the following unmanned aerial vehicle is calculated according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system;
when the initial track point is determined to be in the obstacle area, determining a target track point for obstacle avoidance based on the track point information and the obstacle area so as to facilitate the following unmanned aerial vehicle to fly;
wherein, based on the track point information and the obstacle region, determining a target track point for obstacle avoidance includes:
determining intersection points of a connecting line straight line between the initial track point and the central point of the obstacle area and the obstacle area, wherein the number of the intersection points is 2;
calculating Euclidean distance between the initial track point and the intersection point;
determining a target intersection point based on weights corresponding to Euclidean distances between the initial track point and the intersection point;
and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
2. The method of claim 1, wherein the determining that the initial track point is within an obstacle region comprises:
judging whether the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area or not;
and if the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area, determining that the initial track point is in the obstacle area.
3. The method as recited in claim 2, further comprising:
if the linear distance between the initial track point and the central point of the obstacle area is greater than the radius distance of the obstacle area, taking the initial track point as a target track point;
and if the linear distance between the initial track point and the central point of the obstacle area is equal to the radius distance of the obstacle area, taking the initial track point added with a preset margin as a target track point.
4. The method of claim 1, further comprising, prior to the acquiring user input track trajectory, formation pattern, obstacle area, and following the number of drones:
and planning a path based on the starting position, the target position and the obstacle area, and generating a track of the piloting unmanned aerial vehicle.
5. A formation obstacle avoidance device, the device comprising:
the first acquisition unit is used for acquiring a track input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles;
the second acquisition unit is used for acquiring the track point information of each following unmanned aerial vehicle in real time in the process of carrying out flight simulation on the following unmanned aerial vehicle according to the formation mode, wherein the track point information comprises the current track point of the following unmanned aerial vehicle and the initial track point at the next moment, the track point information of the following unmanned aerial vehicle is obtained by calculation according to the track locus of the piloting unmanned aerial vehicle, and the current track point and the initial track point are both in a Cartesian coordinate system;
a determining unit, configured to determine a target track point for obstacle avoidance based on the track point information and an obstacle region when the initial track point is determined to be within the obstacle region, so as to facilitate the following unmanned aerial vehicle to fly;
the determining unit for determining the target track point for obstacle avoidance based on the track point information and the obstacle area is specifically configured to: determining intersection points of a connecting line straight line between the initial track point and the central point of the obstacle area and the obstacle area, wherein the number of the intersection points is 2; calculating Euclidean distance between the initial track point and the intersection point; determining a target intersection point based on weights corresponding to Euclidean distances between the initial track point and the intersection point; and taking the target intersection point added with the preset margin as a target track point for obstacle avoidance.
6. The apparatus according to claim 5, wherein the determining unit for determining that the initial track point is within an obstacle region is specifically configured to: judging whether the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area or not; if the linear distance between the initial track point and the central point of the obstacle area is smaller than the radius distance of the obstacle area, determining that the initial track point is in the obstacle area; and if the linear distance between the initial track point and the central point of the obstacle area is larger than the radius distance of the obstacle area, taking the initial track point as a target track point.
7. The apparatus of claim 6, wherein the determining unit is further configured to: if the linear distance between the initial track point and the central point of the obstacle area is greater than the radius distance of the obstacle area, taking the initial track point as a target track point; and if the linear distance between the initial track point and the central point of the obstacle area is equal to the radius distance of the obstacle area, taking the initial track point added with a preset margin as a target track point.
8. The apparatus as recited in claim 5, further comprising:
the generation unit is used for carrying out path planning based on the starting position, the target position and the barrier area before the acquisition user inputs the track input by the acquisition user, the formation mode, the barrier area and the following unmanned aerial vehicle number, and generating the track of the piloting unmanned aerial vehicle.
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| CN115437368B (en) * | 2022-06-02 | 2023-08-29 | 珠海云洲智能科技股份有限公司 | Rescue path determining method and device, rescue equipment and readable storage medium |
| CN116540709B (en) * | 2023-05-11 | 2023-11-14 | 江苏博发机器人智能装备有限公司 | Obstacle avoidance path planning method based on robot formation |
| CN118210378A (en) * | 2024-03-14 | 2024-06-18 | 浙江大学湖州研究院 | Interactive unmanned aerial vehicle autonomous trick flight method |
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