CN114252070A - Unmanned aerial vehicle path planning method suitable for given path length - Google Patents
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Abstract
The invention provides an unmanned aerial vehicle path planning method suitable for a given path length, which is characterized in that a starting point and an end point of path planning, the path length, the number of path segments, the maximum iteration number, a movement coefficient and the speed of an unmanned aerial vehicle at the starting point are set; determining the length of each path segment according to the path length and the number of the path segments; setting an initial path as a line segment from a starting point along a speed direction, wherein the length is the path length; determining the coordinates of each path point according to the length of each path segment; moving the path points of each initial path to a new position in sequence from a first point after the starting point to obtain a new path; and judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the previous step to calculate the new path for iteration if the new path does not meet the termination condition. The invention overcomes the defect that the total length of the path is uncertain after the path is planned in the prior art, and the control on the total flight time of the unmanned aerial vehicle is more accurate.
Description
Technical Field
The invention belongs to the technical field of path planning, and particularly relates to an unmanned aerial vehicle path planning method suitable for a given path length.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicle three-dimensional path planning receives more and more attention of people, and the path planning method plays crucial effect in the aspect of rational utilization of unmanned aerial vehicle energy and efficiency distribution. However, most existing unmanned aerial vehicle path planning methods classify path planning into an optimization problem, and a path with the shortest path or the highest task efficiency is planned in a space with known starting points, end points, obstacles or threats. The path planning method using the local optimal idea includes an artificial potential field method, a velocity barrier method and the like, and the path planning method using the global optimal idea includes a genetic algorithm, an ant colony algorithm, a particle swarm algorithm and the like. The path planning methods are based on the premise of optimization, and solve the path planning problem by constructing a mathematical constraint relation through a path planning target.
In the flight process of the unmanned aerial vehicle, due to the unmanned aerial vehicle power system, the requirement on the flight time is higher, and the uncertain path length easily causes the unmanned aerial vehicle to have insufficient power due to overlong flight time, so that the unmanned aerial vehicle cannot safely land in a designated area.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an unmanned aerial vehicle path planning method suitable for a given path length. The scheme of the invention can solve the problems in the prior art.
The technical solution of the invention is as follows:
an unmanned aerial vehicle path planning method suitable for a given path length comprises the following steps:
setting a starting point and a terminal point of path planning, path length, path segment number, maximum iteration times, a movement coefficient and the speed of the unmanned aerial vehicle at the starting point;
determining the length of each path segment according to the path length and the number of the path segments;
setting an initial path as a line segment from a starting point along a speed direction, wherein the length is the path length;
determining the coordinates of each path point according to the length of each path segment;
moving the path points of each initial path to a new position in sequence from a first point after the starting point to obtain a new path;
and judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the previous step to calculate the new path for iteration if the new path does not meet the termination condition.
Further, the value range of the motion coefficient is as follows:
wherein
As coordinates of the end of the path at the initial time, PgThe coordinates of the set end point for the path,
is a point P1To
The distance of (c).
Further, the end condition is that the error of the planned path end point distance setting path planning end point is within an allowable range or the iteration number reaches the maximum iteration number.
Furthermore, the distance between the planned path end point and the set path planning end point meets the requirement
The error is considered to be within the allowable range.
Further, the length of each path segment may be the same or different.
Further, the method for moving the path point comprises the following steps: the waypoint is rotated by a set angle alpha around the previous waypoint.
Further, the formula for calculating the set angle α is:
where k is the coefficient of motion, Pn+1As coordinates of the current end point of the path, PgCoordinates of set end points, P, for the pathi-1To move the coordinates of the waypoint immediately preceding the waypoint,
is a point Pn+1And point PgThe distance between the two adjacent electrodes is less than the total distance,
is a point Pi-1To Pn+1PgThe distance of (c).
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention solves the defect of uncertain path total length after path planning in the prior art by a method for carrying out path planning by determining the path length, and controls the total flight time of the unmanned aerial vehicle more accurately;
(2) the path planning method has small calculation amount and high calculation speed, and can meet the real-time path planning requirement of the unmanned aerial vehicle;
(3) the invention adopts a path point control mode, and can set the number of path sections according to the actual situation, thereby controlling the smoothness of the generated path to meet the performance requirement of the unmanned aerial vehicle and ensuring the stable flight of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram illustrating steps of a path planning method for an unmanned aerial vehicle suitable for a given path length according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating waypoint movement provided according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The embodiment of the invention provides an unmanned aerial vehicle path planning method suitable for a given path length, which comprises the following steps:
setting a starting point and a terminal point of path planning, path length, path segment number, maximum iteration times, a movement coefficient and the speed of the unmanned aerial vehicle at the starting point;
determining the length of each path segment according to the path length and the number of the path segments;
setting an initial path as a line segment from a starting point along a speed direction, wherein the length is the path length;
determining the coordinates of each path point according to the length of each path segment;
moving the path points of each initial path to a new position in sequence from a first point after the starting point to obtain a new path;
and judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the previous step to calculate the new path for iteration if the new path does not meet the termination condition.
As shown in fig. 1, in a specific embodiment, a method for planning a path of an unmanned aerial vehicle suitable for a given path length includes the following steps:
step one, setting a starting point P of path planning1And end point PgPath length L, number of path segments N, maximum number of iterations NcThe movement coefficient k and the speed of the unmanned aerial vehicle at the starting point
In one embodiment, the number n of the path segments is more than 3, the more the path segments are, the smoother the obtained path is, the more the corresponding path planning times are, and the longer the time is; the smaller the number of path segments, the greater the obtained path turning, the fewer the corresponding times of path planning, and the shorter the time. In practical application, the number of the path segments can be determined according to the specific situation of the unmanned aerial vehicle.
Further, in one embodiment, the shift coefficient k is in the range of valuesThe enclosure is as follows:
wherein
For the end position of the route at the initial time,
is a point P1To
The distance of (c).
Step two, determining the length of each path segment according to the path length and the number of the path segments; in one embodiment, the length of each path segment may or may not be equal. The lengths of all the path sections are equal, calculation of path points is facilitated, smoothness of the obtained paths is relatively the same, the times of corresponding path planning are possibly increased, and the paths obtained in the areas needing to be emphatically avoided are not smooth enough or not converged; each path segment is not equal, the length of each path segment can be increased at a place far away from a threat source, the planning times of the path are reduced, the length of each path segment is reduced at a place near the threat source, the smoothness and the convergence of the path are increased, and the problem of complex path point calculation is correspondingly brought. In practical application, the length of each path segment can be determined according to the specific situation of the unmanned aerial vehicle path.
Setting an initial path as a line segment from a starting point along the speed direction, wherein the length is the path length;
determining the coordinates of each path point according to the length of each path segment;
step five, starting from the first point after the starting point, moving the path point of each initial path to a new position in sequence to obtain a new path;
further, in one embodiment, the method for moving the path point comprises: the waypoint is rotated by a set angle alpha around the previous waypoint.
Go toIn one embodiment, the angle α is calculated as:
where k is the coefficient of motion, Pn+1As coordinates of the current end point of the path, PgCoordinates of set end points, P, for the pathi-1To move the coordinates of the waypoint immediately preceding the waypoint,
is a point Pn+1And point PgThe distance between the two adjacent electrodes is less than the total distance,
is a point Pi-1To Pn+1PgThe distance of (c).
And step six, judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the step five for iteration if the new path does not meet the termination condition.
Further, in an embodiment, the path planning termination condition is that the distance between the planned path end point and the set path planning end point is within an error allowable range or the iteration number reaches the maximum iteration number. Preferably, in one embodiment, the distance between the planned path end point and the set path planning end point is satisfied
When the error is considered to be within the allowable range, C0More than 0 is constant, L is path length, n is number of path segments, where C0The larger the value is, the lower the precision requirement on the unmanned aerial vehicle landing point is, and the easier the unmanned aerial vehicle path planning is to converge; c0The smaller the value is, the higher the precision requirement on the unmanned aerial vehicle landing point is, and the more times of unmanned aerial vehicle path planning are.
In order to better illustrate the present invention, a method for planning a path of an unmanned aerial vehicle suitable for a given path length according to the present invention is further described below with reference to the accompanying drawings and specific embodiments.
In this embodiment, the length of each path segment is equal for example, and the calculation method for the length of each path segment that is not equal is substantially the same as the method in this embodiment, and it is within the ability of those skilled in the art to perform calculation, and no further description is given here.
Step one, setting a starting point P of path planning1And end point PgPath length L, number of path segments N, maximum number of iterations NcThe movement coefficient k and the speed of the unmanned aerial vehicle at the starting point
The set of path points on the path is Sn＝{P1,P2,P3,…,Pn+1(n > 3) in which Pi(i ═ 1,2, …, n +1) denotes the end points of the small-path segment.
Step two, determining the length L of each path segment as L/n according to the path length and the number of the path segments;
setting an initial path as a line segment from a starting point along the speed direction, wherein the length is the path length;
determining the coordinates of each path point according to the length of each path segment; the coordinates of the ith path point are
Wherein
For unmanned aerial vehicle speed
Unit vector in direction.
Step five, starting from the first point after the starting point, moving the path point of each initial path to a new position in sequence to obtain a new path;
set point P on the pathiThe new position after one movement is Pi' (i-1, 2, …, n +1, let P1'＝P1，Pi' (i.gtoreq.2) from point Pi(i.gtoreq.2) winding point Pi-1' (i is more than or equal to 2) is obtained by rotation. For point Pi(i is not less than 2), let Pi(i.gtoreq.2) along Pi-1(i is more than or equal to 2) the rotating angle is alpha,then
Wherein
Is a point PnAnd point PgThe distance between the two adjacent electrodes is less than the total distance,
is a point Pi-1To Pn+1PgThe distance of (c). Point PiThe coordinate of (i.gtoreq.2) is
Starting from subscript 1, point P on the pathiMoving in sequence according to the method in step three to obtain a new path Sn'＝{P1',P2',P3',…,Pn+1' } (n > 3), the number of iterations is increased by 1.
And step six, judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the step five for iteration if the new path does not meet the termination condition.
In summary, the unmanned aerial vehicle path planning method suitable for the given path length provided by the invention has at least the following advantages compared with the prior art:
(1) the invention solves the defect of uncertain path total length after path planning in the prior art by a method for carrying out path planning by determining the path length, and the control on the total flight time of the unmanned aerial vehicle is simpler and more convenient;
(2) the path planning method has small calculation amount and high calculation speed, and can meet the real-time path planning requirement of the unmanned aerial vehicle;
(3) the invention adopts a path point control mode, and can set the number of path sections according to the actual situation, thereby controlling the smoothness of the generated path to meet the performance requirement of the unmanned aerial vehicle and ensuring the stable flight of the unmanned aerial vehicle.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle path planning method suitable for a given path length is characterized by comprising the following steps:
setting a starting point and a terminal point of path planning, path length, path segment number, maximum iteration times, a movement coefficient and the speed of the unmanned aerial vehicle at the starting point;
determining the length of each path segment according to the path length and the number of the path segments;
setting an initial path as a line segment from a starting point along a speed direction, wherein the length is the path length;
determining the coordinates of each path point according to the length of each path segment;
moving the path points of each initial path to a new position in sequence from a first point after the starting point to obtain a new path;
and judging whether the new path meets the termination condition, finishing path planning if the new path meets the termination condition, and continuously returning to the previous step to calculate the new path for iteration if the new path does not meet the termination condition.
2. The method of claim 1, wherein the range of motion coefficients is:
wherein
As coordinates of the end of the path at the initial time, PgThe coordinates of the set end point for the path,
is a point P1To
The distance of (c).
3. An unmanned aerial vehicle path planning method according to claim 2, wherein the end condition is that an error of the planned path end point from the set path planning end point is within an allowable range or the number of iterations reaches a maximum number of iterations.
4. An unmanned aerial vehicle path planning method suitable for a given path length according to claim 3, wherein the distance between the planned path end point and the set path planning end point satisfies the requirement
The error is considered to be within the allowable range.
5. A method as claimed in claim 1, wherein the method for moving waypoints comprises: the waypoint is rotated by a set angle alpha around the previous waypoint.
6. An unmanned aerial vehicle path planning method according to claim 5, wherein the set angle α is calculated by the following formula:
where k is the coefficient of motion, Pn+1As coordinates of the current end point of the path, PgCoordinates of set end points, P, for the pathi-1To move the coordinates of the waypoint immediately preceding the waypoint,
is a point Pn+1And point PgThe distance between the two adjacent electrodes is less than the total distance,
is a point Pi-1To Pn+1PgThe distance of (c).
7. A method as claimed in claim 1, wherein the lengths of each of the path segments are the same or different.
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