CN114371730A - Unmanned aerial vehicle tracking moving target track planning method - Google Patents
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Abstract
The invention discloses a method for planning a track of a moving target tracked by an unmanned aerial vehicle, which aims to solve the technical problems that no planning target point is determined when the unmanned aerial vehicle tracks the moving target and the unmanned aerial vehicle and the moving target are required to keep a certain distance for continuous tracking all the time. The invention mainly comprises the following steps: (1) predicting a future position of the moving target; (2) determining the confrontation distance; (3) determining a temporary target point on the confronting circle; (4) calculating the attraction force and the repulsion force of the artificial potential field; (5) determining the flight path of the unmanned aerial vehicle; the invention plans the flight path from the unmanned aerial vehicle to the temporary target point by using the artificial potential field method, has small calculation amount and high calculation speed, can generate a smooth flight path, and solves the problem that the flight path planning algorithm of the artificial potential field method is easy to fall into the local optimal solution because the temporary target point is continuously updated and changed.
Description
Technical Field
The invention belongs to the field of autonomous control of unmanned aerial vehicles, and particularly relates to a planning method for tracking a moving target track by an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned and self-propelled aircraft which is controlled by a radio remote control or a self program, carries and flies by utilizing aerodynamics and can be repeatedly used. Unmanned aerial vehicle has advantages such as small in size, the expense is low, mobility is good, disguise is good, strong adaptability, and these advantages of unmanned aerial vehicle make it carry out aerial detection and reconnaissance under complicated and dangerous environment to along with the promotion of science and technology, economy and political factor, it has increasingly extensive application in each field.
The detection of the target is one of important tasks of the unmanned aerial vehicle, and aims to search, track and monitor the target, acquire the position and the track of the target and identify the property and the state of the target. And the targets can be classified into two types, namely fixed targets and moving targets according to the motion characteristics of the detected targets. The unmanned aerial vehicle is different from the flight path planning when the unmanned aerial vehicle detects a fixed target, when the unmanned aerial vehicle detects a moving target, the target is kept to be tracked, and the flight path planning has no determined end point. When unmanned aerial vehicle trails the moving target, guarantee to move the detection load cover of target, reduce positioning error to require unmanned aerial vehicle and moving target to remain certain safe distance throughout, reduce unmanned aerial vehicle's exposure. The traditional unmanned aerial vehicle track planning algorithm is used for planning the track of the unmanned aerial vehicle under the condition of determining a target point, so that the research on the unmanned aerial vehicle tracking moving target track planning has great significance for improving the mission capability of the unmanned aerial vehicle.
Disclosure of Invention
In order to solve the technical problems that a planning target point is not determined when an unmanned aerial vehicle tracks a moving target and the unmanned aerial vehicle is required to keep a certain distance with the moving target for continuous tracking all the time, the invention provides a flight path planning method for the unmanned aerial vehicle to track the moving target.
The technical scheme adopted by the invention is as follows:
a planning method for tracking a moving target track by an unmanned aerial vehicle specifically comprises the following steps:
(1) calculating the position information of the moving target after the future set time delta T according to the motion characteristics of the moving target and the current time position;
(2) the unmanned aerial vehicle tracks the moving target in real time in a mode of circling around the moving target at a certain distance, a circle of circling is called a confrontation circle, the distance between the unmanned aerial vehicle and the moving target in the circling process is called a confrontation distance, and the confrontation distance is determined as the maximum action distance R of the unmanned aerial vehicle carrying a detection load;
(3) calculating the distance between the position of the unmanned aerial vehicle at the current moment and the position of the moving target after the future delta T time, determining the position of the unmanned aerial vehicle on the confronting circle according to the calculated distance and the confronting distance R, and determining a temporary target point on the confronting circle according to the position of the unmanned aerial vehicle on the confronting circle and the speed of the unmanned aerial vehicle;
(4) calculating the manual potential field attraction force of the temporary target point on the unmanned aerial vehicle and the manual potential field repulsion force of the obstacle on the unmanned aerial vehicle;
(5) calculating resultant force borne by the unmanned aerial vehicle according to the artificial potential field attraction of the temporary target point to the unmanned aerial vehicle and the artificial potential field repulsion of the obstacle to the unmanned aerial vehicle, taking the resultant force direction as the planning speed direction of the unmanned aerial vehicle at the current position, setting a track planning step length, keeping the speed of the unmanned aerial vehicle unchanged, and calculating the position of the unmanned aerial vehicle after the set time delta t;
(6) repeating the step (4) and the step (5) every delta T to obtain the unmanned aerial vehicle track within delta T time; and (4) returning to the step (1).
Wherein, the step (3) comprises the following steps:
(3.1) calculating the distance d between the position of the unmanned aerial vehicle at the current moment and the position of the moving target after the future delta T time;
(3.2) determining the temporary target points on the opposite circle according to the magnitude relation of d and R, and dividing into three conditions: when the unmanned aerial vehicle is outside the confronting circle, the tangent of the confronting circle is made along the current position of the unmanned aerial vehicle to determine a temporary target point, when the unmanned aerial vehicle is in the confronting circle, the temporary target point is determined according to the intersection point of the angular bisector of the reverse extension line of the connecting line between the unmanned aerial vehicle and the mobile target position point and the speed of the unmanned aerial vehicle and the confronting circle, when the unmanned aerial vehicle is on the confronting circle, the current position of the unmanned aerial vehicle is used as the center of a circle to make a circle, and the temporary target point is determined according to the intersection point of the unmanned aerial vehicle and the confronting circle.
Wherein, the step (3.2) specifically comprises the following steps:
determining the temporary target point on the opposite circle according to the magnitude relation between d and R, and dividing into the following three conditions:
1) when d is larger than R, the unmanned aerial vehicle is positioned outside the future confronting circle, two tangent lines of the confronting circle are made along the current position of the unmanned aerial vehicle, the confronting circle is respectively intersected at a point A and a point B, and included angles between the two tangent lines UA and UB and the speed V of the unmanned aerial vehicle are respectively alpha1And alpha2When is alpha1≤α2When the temporary target point is defined as point A, when alpha is1＞α2Then, a temporary target point is defined as point B; wherein, alpha is defined to be 0. ltoreq.1≤π，0≤α2≤π；
2) When D is less than R, the unmanned aerial vehicle is positioned in a future confronting circle, a reverse extension line of a connecting line UO between the unmanned aerial vehicle and a moving target position point O is made, the confronting circle is made to be a point C, a current position U of the unmanned aerial vehicle is taken as a vertex, a confronting circle of an angular bisector between UC and the speed V of the unmanned aerial vehicle is made to be a point D, and a temporary target point is specified to be a point D;
3) when d is equal to R, the unmanned aerial vehicle is positioned on a future confrontation circle, the current position of the unmanned aerial vehicle is used as the circle center, V multiplied by delta T is used as the radius to make a circle, the confrontation circle is positioned at a point E and a point F, and the included angles between the speed V of the unmanned aerial vehicle and UE and UF are respectively alpha3、α4When is alpha3≤α4When a temporary target point is defined as point E, when alpha is3＞α4Then, the temporary target point is defined as point F; wherein 0. ltoreq. alpha.3≤π，0≤α4≤π。
Compared with the prior art, the invention has the following advantages:
the method calculates the distances between the unmanned aerial vehicle at the current moment and the moving target at the future moment, and determines the temporary target point on the setoff circle according to the position of the unmanned aerial vehicle on the setoff circle and the speed of the unmanned aerial vehicle, so that the problem that the target point is not determined when the unmanned aerial vehicle tracks the moving target is solved; the method has the advantages that the artificial potential field method is used for planning the flight path from the unmanned aerial vehicle to the temporary target point, the calculated amount is small, the calculating speed is high, the smooth flight path can be generated, and the problem that the artificial potential field method flight path planning algorithm is easy to fall into the local optimal solution due to the fact that the temporary target point is continuously updated and changed is solved.
Drawings
Fig. 1 is a schematic diagram illustrating the determination of a temporary target point when the distance between an unmanned aerial vehicle and a moving target is greater than a confronting distance.
Fig. 2 is a schematic diagram illustrating the determination of a temporary target point when the distance between the unmanned aerial vehicle and the moving target is smaller than the opposing distance.
Fig. 3 is a schematic diagram illustrating the determination of a temporary target point when the distance between the unmanned aerial vehicle and the moving target is equal to the opposing distance.
FIG. 4 is a flow chart of the process of the present invention.
Detailed Description
The invention is further described below with reference to fig. 1-4 and the examples.
The invention relates to a planning method for tracking a moving target track by an unmanned aerial vehicle, which comprises the following steps as shown in figure 4:
(1) predicting a future position of the moving target;
in the process of tracking the moving target by the unmanned aerial vehicle, the tracking effect of the unmanned aerial vehicle on the target not only depends on the target position at the current moment, but also is directly related to the target position at the future moment. The motion state of the moving target can be directly detected by the unmanned aerial vehicle. According to the motion characteristics of the moving target, the motion types of the moving target are divided into uniform motion, uniform acceleration motion and uniform turning motion, and according to the position of the moving target at the current moment and the interval time delta T, the position information of the moving target after the future delta T time can be calculated.
According to the motion state of the moving object, the following three cases are classified:
1) if the moving target does uniform motion, the velocity is VT(VTx，VTy) The current time position is (x)T,yT) After Δ T time, move the target position (x)T(ΔT)，yT(ΔT)) Comprises the following steps:
2) if the moving target does uniform acceleration motion, the current speed is VTThe current time position is (x)T,yT) Acceleration of aT(aTx，aTy) After Δ T time, move the target position (x)T(ΔT)，yT(ΔT)) Comprises the following steps:
3) if the moving target makes uniform turning motion, the current time position is (x)T,yT) Angular velocity of
Turning radius of RTAfter Δ T time, move the target position (x)T(ΔT)，yT(ΔT)) Comprises the following steps:
(2) determining the confrontation distance;
when the unmanned aerial vehicle tracks the moving target, because the speed of the unmanned aerial vehicle is greater than that of the moving target, the unmanned aerial vehicle can realize real-time tracking of the moving target in a mode that the unmanned aerial vehicle spirals around the target at a certain distance, the spiral circle is a confronting circle, the distance between the unmanned aerial vehicle and the moving target in the process of spiraling is called a confronting distance, and the confronting distance is determined as the maximum acting distance R of the unmanned aerial vehicle carrying a detection load.
(3) Determining a temporary target point on the confronting circle;
the method specifically comprises the following steps:
(3.1) calculating the distance between the unmanned aerial vehicle and the moving target position after delta T time, wherein the current position point U of the unmanned aerial vehicle is assumed, and the coordinate is (x)u,yu) After a time Δ T in the future, the position of the moving object is point O and the coordinate is (x)T(ΔT),yT(ΔT)) Taking the point O as the center of circle, the circle with the radius R as the opposite circle, and the d as the unmanned plane and the position of the moving target after the delta T time (x)T(ΔT),yT(ΔT)) The distance between:
(3.2) determining the temporary target points on the opposite circles, and according to the magnitude relation between d and R, dividing the temporary target points into the following three cases:
1) when d is greater than R, the unmanned aerial vehicle is outside the future opposing circle at this time, as shown in FIG. 1. Making two tangent lines of the confronting circle along the current position of the unmanned aerial vehicle, respectively intersecting the confronting circle at a point A and a point B, wherein included angles between the two tangent lines UA and UB and the speed V of the unmanned aerial vehicle are respectively alpha1And alpha2(stipulated 0. ltoreq. alpha1≤π，0≤α2N) when α is1≤α2When the temporary target point is defined as point A, when alpha is1＞α2Then, the temporary target point is defined as point B.
2) When d is less than R, the UAV is in the future opposing circle, as shown in FIG. 2. And (3) making a reverse extension line of a connecting line UO between the unmanned aerial vehicle and the mobile target position point O, making a reciprocal circle at the point C, making a reciprocal circle of the angular bisector between the UC and the unmanned aerial vehicle speed V and a point D by taking the current position of the unmanned aerial vehicle as a vertex, and defining a temporary target point as a point D.
3) When d is equal to R, the drone is now on the future opposing circle, as shown in fig. 3. Taking the current position of the unmanned aerial vehicle as the center of a circle, taking V multiplied by delta T as the radius to make a circle, intersecting the circle at a point E and a point F, and respectively taking the included angles of the speed V of the unmanned aerial vehicle and UE and UF as alpha3、α4(stipulated 0. ltoreq. alpha3≤π，0≤α4N) when α is3≤α4When a temporary target point is defined as point E, when alpha is3＞α4Then, the temporary target point is defined as point F.
(4) Calculating the gravity and the repulsion of the artificial potential field;
the artificial potential field gravitation of the unmanned aerial vehicle subjected to the temporary target point is as follows:
Fattractive＝k×l
the repulsion force of the artificial potential field of the unmanned aerial vehicle from the obstacle is as follows:
where k is a gravitational coefficient, l is a distance between the unmanned aerial vehicle and the temporary target point, η is a repulsive coefficient, ρ is a distance between the unmanned aerial vehicle and the obstacle, and ρ is a distance between the unmanned aerial vehicle and the temporary target point0Is the influence range that the barrier forms the hindrance to unmanned aerial vehicle.
(5) Determining the flight path of the unmanned aerial vehicle;
calculating resultant force received by the unmanned aerial vehicle according to the artificial potential field attraction of the temporary target point to the unmanned aerial vehicle and the artificial potential field repulsion generated by the obstacle to the unmanned aerial vehicle in the step (4), keeping the speed of the unmanned aerial vehicle unchanged, setting a track planning step length delta T (delta T & ltdelta T) in which the direction of the resultant force is the planning speed direction of the unmanned aerial vehicle at the current position, and setting n delta T to set the position of the unmanned aerial vehicle as (x delta T)u(nΔt),yu(nΔt)) At a velocity of V(nΔt)Then after Δ t time, the position of the drone is:
(6) repeating the step (4) and the step (5) every delta T to obtain the unmanned aerial vehicle track in a future period of time, and executing the step (1) until delta T time, determining a new temporary target point and obtaining the continuous track of the unmanned aerial vehicle.
Claims (3)
1. An unmanned aerial vehicle tracking moving target track planning method is characterized by specifically comprising the following steps:
(1) calculating the position information of the moving target after the future set time delta T according to the motion characteristics of the moving target and the current time position;
(2) the unmanned aerial vehicle tracks the moving target in real time in a mode of circling around the moving target at a certain distance, a circle of circling is called a confrontation circle, the distance between the unmanned aerial vehicle and the moving target in the circling process is called a confrontation distance, and the confrontation distance is determined as the maximum action distance R of the unmanned aerial vehicle carrying a detection load;
(3) calculating the distance between the position of the unmanned aerial vehicle at the current moment and the position of the moving target after the future delta T time, determining the position of the unmanned aerial vehicle on the confronting circle according to the calculated distance and the confronting distance R, and determining a temporary target point on the confronting circle according to the position of the unmanned aerial vehicle on the confronting circle and the speed of the unmanned aerial vehicle;
(4) calculating the manual potential field attraction force of the temporary target point on the unmanned aerial vehicle and the manual potential field repulsion force of the obstacle on the unmanned aerial vehicle;
(5) calculating resultant force borne by the unmanned aerial vehicle according to the artificial potential field attraction of the temporary target point to the unmanned aerial vehicle and the artificial potential field repulsion of the obstacle to the unmanned aerial vehicle, taking the resultant force direction as the planning speed direction of the unmanned aerial vehicle at the current position, setting a track planning step length, keeping the speed of the unmanned aerial vehicle unchanged, and calculating the position of the unmanned aerial vehicle after the set time delta t; wherein Δ T < Δ T;
(6) repeating the step (4) and the step (5) every delta T to obtain the unmanned aerial vehicle track within delta T time; and (4) returning to the step (1).
2. The unmanned aerial vehicle tracking moving target track planning method according to claim 1, wherein the step (3) specifically comprises the following steps:
(3.1) calculating the distance d between the position of the unmanned aerial vehicle at the current moment and the position of the moving target after the future delta T time;
(3.2) determining the temporary target points on the opposite circle according to the magnitude relation of d and R, and dividing into three conditions: when the unmanned aerial vehicle is outside the confronting circle, the tangent of the confronting circle is made along the current position of the unmanned aerial vehicle to determine a temporary target point, when the unmanned aerial vehicle is in the confronting circle, the temporary target point is determined according to the intersection point of the angular bisector of the reverse extension line of the connecting line between the unmanned aerial vehicle and the mobile target position point and the speed of the unmanned aerial vehicle and the confronting circle, when the unmanned aerial vehicle is on the confronting circle, the current position of the unmanned aerial vehicle is used as the center of a circle to make a circle, and the temporary target point is determined according to the intersection point of the unmanned aerial vehicle and the confronting circle.
3. The unmanned aerial vehicle tracking moving target track planning method according to claim 1, wherein the step (3.2) specifically comprises the following steps:
determining the temporary target point on the opposite circle according to the magnitude relation between d and R, and dividing into the following three conditions:
1) when d is larger than R, the unmanned aerial vehicle is positioned outside the future confronting circle, two tangent lines of the confronting circle are made along the current position of the unmanned aerial vehicle, the confronting circle is respectively intersected at a point A and a point B, and included angles between the two tangent lines UA and UB and the speed V of the unmanned aerial vehicle are respectively alpha1And alpha2When is alpha1≤α2When the temporary target point is defined as point A, when alpha is1＞α2Then, a temporary target point is defined as point B; wherein, alpha is defined to be 0. ltoreq.1≤π，0≤α2≤π；
2) When D is less than R, the unmanned aerial vehicle is positioned in a future confronting circle, a reverse extension line of a connecting line UO between the unmanned aerial vehicle and a moving target position point O is made, the confronting circle is made to be a point C, a current position U of the unmanned aerial vehicle is taken as a vertex, a confronting circle of an angular bisector between UC and the speed V of the unmanned aerial vehicle is made to be a point D, and a temporary target point is specified to be a point D;
3) when d is equal to R, the unmanned aerial vehicle is positioned on a future confrontation circle, the current position of the unmanned aerial vehicle is used as the circle center, V multiplied by delta T is used as the radius to make a circle, the confrontation circle is positioned at a point E and a point F, and the included angles between the speed V of the unmanned aerial vehicle and UE and UF are respectively alpha3、α4When is alpha3≤α4When a temporary target point is defined as point E, when alpha is3＞α4Then, the temporary target point is defined as point F; wherein, alpha is defined to be 0. ltoreq.3≤π，0≤α4≤π。
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