技术领域technical field
本发明涉及无人机领域，特别是涉及一种无人机飞行导航的方法及系统。The invention relates to the field of unmanned aerial vehicles, in particular to a method and system for flying and navigating an unmanned aerial vehicle.
背景技术Background technique
无人机在飞行之前，首先需要航迹规划出航迹线，然后利用航迹线导航，执行飞行任务。无人机航迹规划是指在规划空间中利用地形和情报等信息，同时考虑无人机自身的性能约束和任务要求，规划出从起始点到目标点飞行航迹代价最小的一条突防轨迹。航迹规划作为无人机自主作战的核心，其重要性相当于人类的“大脑”。伴随着无人机在现代战争、灾后救援、安全预警等方面的成功应用。越来越多的国内外学者投入到无人机航迹规划的研究中来。近些年出现了多种航迹规划方法，可以大致将它们分为两类：离线航迹规划方法和在线航迹规划方法。Before the UAV flies, it first needs to plan the trajectory of the trajectory, and then use the trajectory to navigate and execute the flight mission. UAV track planning refers to the use of information such as terrain and intelligence in the planning space, while considering the performance constraints and task requirements of the UAV itself, to plan a penetration trajectory with the least cost from the starting point to the target point. . As the core of UAV autonomous combat, trajectory planning is equivalent to the "brain" of human beings. Accompanied by the successful application of drones in modern warfare, post-disaster rescue, security early warning, etc. More and more domestic and foreign scholars have devoted themselves to the research of UAV trajectory planning. In recent years, a variety of trajectory planning methods have emerged, which can be roughly divided into two categories: offline trajectory planning methods and online trajectory planning methods.
离线航迹规划方法主要包括稀疏A*搜索算法(SAS)和遗传算法、蚁群算法、粒子群算法等基于进化计算的航迹规划方法。此离线航迹规划方法主要是针对静态环境，没有考虑动态环境的变化。随着科技的不断进步，战场环境不再是一成不变，而是不断变化的。因此，传统的静态航迹规划方法已经无法满足无人机自主作战与飞行需要。Offline trajectory planning methods mainly include sparse A* search algorithm (SAS) and genetic algorithm, ant colony algorithm, particle swarm algorithm and other trajectory planning methods based on evolutionary computation. This off-line trajectory planning method is mainly aimed at the static environment, without considering the change of the dynamic environment. With the continuous advancement of science and technology, the battlefield environment is no longer static, but constantly changing. Therefore, the traditional static trajectory planning method can no longer meet the needs of autonomous combat and flight of UAVs.
常见的在线航迹规划方法有D*算法、基于可行优先准则的实时航迹规划等。D*算法是一种常见的在线实时航迹规划方法，该方法能较好的适应环境的动态变化。但是当目标点周围出现大面积遮挡，要求无人机从特定的方向进入目标点时，D*算法在遮挡区会进行大量的反复搜索和回退拓展，消耗大量的系统资源，使得飞行过程中导航效率低下。Common online trajectory planning methods include D* algorithm, real-time trajectory planning based on feasible priority criteria, etc. The D* algorithm is a common online real-time trajectory planning method, which can better adapt to the dynamic changes of the environment. However, when there is a large area of occlusion around the target point and the UAV is required to enter the target point from a specific direction, the D* algorithm will perform a large number of repeated searches and back-off expansion in the occlusion area, consuming a large amount of system resources, making the flight process Navigation is inefficient.
发明内容Contents of the invention
本发明的目的是提供一种无人机飞行导航的方法及系统，通过沿约束方向基于圆拓展的方法避开障碍物产生引导点，并通过代价值函数选择代价最小的引导点作为目标引导点，向引导点区域搜索，从而生成无人机航迹线，导航无人机飞行，以解决传统算法中无法有效避开障碍物，导致航迹规划效率低的问题。The purpose of the present invention is to provide a method and system for unmanned aerial vehicle flight navigation, which avoids obstacles and generates guide points through the method based on circle expansion along the constraint direction, and selects the guide point with the smallest cost as the target guide point through the cost value function , to search the guide point area, thereby generating the UAV track line, and navigating the UAV flight, so as to solve the problem that the traditional algorithm cannot effectively avoid obstacles, resulting in low efficiency of trajectory planning.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following scheme:
一种无人机飞行导航的方法，所述方法包括：A method for flying and navigating an unmanned aerial vehicle, the method comprising:
获取无人机计划飞行的起始点与目标点；Obtain the starting point and target point of the drone's planned flight;
对所述目标点进行障碍检测，确定引导点，所述引导点包括第一类引导点和第二类引导点，所述第一类引导点为以所述目标点为目标进行障碍检测得到的引导点，所述第一类引导点中引导点的个数为正整数，所述第二类引导点为以所述第一类引导点为目标进行障碍检测得到的引导点，所述第二类引导点中引导点的个数为正整数；Performing obstacle detection on the target point to determine a guide point, the guide point includes a first type of guide point and a second type of guide point, the first type of guide point is obtained by performing obstacle detection with the target point as the target Guide points, the number of guide points in the first type of guide points is a positive integer, the second type of guide points are guide points obtained by performing obstacle detection with the first type of guide points as the target, and the second The number of guide points in the class guide point is a positive integer;
根据所述引导点生成所述无人机的飞行线路，所述飞行线路的个数为正整数，所述飞行线路为起始点-第二引导点-第一引导点-目标点；Generate the flight line of the UAV according to the guide point, the number of the flight line is a positive integer, and the flight line is the starting point-the second guide point-the first guide point-the target point;
确定所述无人机的最终飞行线路；determining the final flight route of the drone;
根据所述最终飞行线路进行节点扩展；performing node expansion according to the final flight path;
切换引导点进行节点扩展；Switch the guide point for node expansion;
生成所述无人机的航迹线；所述无人机按照所述航迹线导航进行飞行。A track line of the unmanned aerial vehicle is generated; the unmanned aerial vehicle flies according to the navigation of the track line.
可选的，所述对所述目标点进行障碍检测，确定引导点，具体包括：Optionally, the step of performing obstacle detection on the target point to determine the guide point specifically includes:
判断所述起始点与所述目标点之间是否存在障碍物，得到第一判断结果；judging whether there is an obstacle between the starting point and the target point, and obtaining a first judging result;
当所述第一判断结果表示所述起始点与所述目标点之间存在障碍物时，以所述目标点中心为圆心、所述目标点中心与障碍物中心的距离为半径作圆，得到目标点圆；When the first judgment result indicates that there is an obstacle between the starting point and the target point, a circle is drawn with the center of the target point as the center and the distance between the center of the target point and the center of the obstacle as the radius, to obtain target point circle;
以所述目标圆圆心为转轴，以所述目标圆半径为半径，每隔预设角度进行障碍检测，得到约束条件下航迹代价最小的第一规划空间，所述第一规划空间为所述目标圆中的扇形区域；Taking the center of the target circle as the axis of rotation and the radius of the target circle as the radius, obstacle detection is performed at preset angles to obtain a first planning space with the smallest track cost under constraints, and the first planning space is the sector of the target circle;
在所述第一规划空间内，获取所述目标点圆与所述障碍物的交点，得到第一类交点；In the first planning space, obtain the intersection of the target point circle and the obstacle to obtain the first type of intersection;
将所述第一类交点确定为所述第一类引导点；determining the first type of intersection point as the first type of guidance point;
判断在所述目标点圆面积范围内，所述第一类引导点与所述起始点的连线之间是否存在障碍物，得到第二判断结果；judging whether there is an obstacle between the line connecting the first type of guiding point and the starting point within the circle area of the target point, and obtaining a second judging result;
当所述第二判断结果表示在所述目标点圆面积范围内，所述第一类引导点与所述起始点的连线之间存在障碍物时，以所述第一类引导点与所述起始点的连线和所述障碍物的交点为圆心、所述目标点中心与障碍物中心的距离为半径作圆，得到第一交点圆；When the second judgment result indicates that there is an obstacle between the line connecting the first type of guiding point and the starting point within the circle area of the target point, the first type of guiding point and the The line connecting the starting point and the intersection point of the obstacle is the center of the circle, the distance between the center of the target point and the center of the obstacle is a radius to make a circle to obtain the first intersection circle;
以所述第一交点圆圆心为转轴，以所述第一交点圆半径为半径，每隔预设角度进行障碍检测，得到约束条件下航迹代价最小的第二规划空间，所述第二规划空间为所述第一交点圆中的扇形区域；Taking the center of the first intersection circle as the axis of rotation and the radius of the first intersection circle as the radius, obstacle detection is performed at intervals of preset angles to obtain a second planning space with the smallest track cost under constraints, and the second planning The space is a fan-shaped area in the first intersection circle;
在所述第二规划空间内，获取所述第一交点圆上与所述起始点连线之间无障碍物的点，得到无障碍点；In the second planning space, obtain an obstacle-free point on the first intersection circle and a line connecting the starting point to obtain an obstacle-free point;
确定所述无障碍点中距离所述起始点最近的点为第二类引导点。The point closest to the starting point among the barrier-free points is determined as the second type of guiding point.
可选的，所述确定所述无人机的最终飞行线路，具体包括：Optionally, the determining the final flight route of the UAV specifically includes:
利用代价函数确定所述飞行线路的代价值；其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，ω1、ω2为相应权重系数；Using the cost function Determine the cost value of the flight line; where li is the track length between node i-1 and node i, fi is the threat probability value between node i-1 and node i, ω1 , ω2 is the corresponding weight coefficient;
将代价值最小的所述飞行线路确定为最终飞行线路。The flight route with the smallest cost value is determined as the final flight route.
可选的，所述根据所述最终飞行线路进行节点扩展，具体包括：Optionally, the performing node expansion according to the final flight route specifically includes:
以第一起点为第一扩展点，向第二起点进行节点扩展，生成第一扩展子节点，所述第一扩展子节点个数为正整数；所述第一起点为所述节点扩展的起点，所述第一起点包括所述最终飞行线路中的起始点；所述第二起点为所述节点扩展的目标方向点，所述第二起点包括所述最终飞行线路中的第二引导点、第一引导点和目标点；Taking the first starting point as the first extension point, extending the node to the second starting point to generate a first extended child node, the number of the first extended child nodes is a positive integer; the first starting point is the starting point of the node expansion , the first starting point includes the starting point in the final flight line; the second starting point is the target direction point of the node expansion, and the second starting point includes the second guide point in the final flight line, first guide point and target point;
利用代价函数确定第一扩展子节点的代价值；其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，d(n)为当前节点n到目标点的预估航迹长度，ω1、ω2、ω3为相应权重系数；Using the cost function Determine the cost value of the first extended child node; where li is the track length between node i-1 and node i, fi is the threat probability value received between node i-1 and node i, d(n) is the estimated track length from the current node n to the target point, and ω1 , ω2 , ω3 are the corresponding weight coefficients;
确定代价值最小的第一扩展子节点。Determine the first expanded child node with the smallest cost value.
可选的，所述切换引导点进行节点扩展，具体包括：Optionally, the switching guide point for node expansion specifically includes:
判断代价值最小的第一扩展子节点是否在切换阈值范围内，得到第三判断结果，所述切换阈值范围为以所述第二起点为圆心、以设定阈值为半径构成的圆内范围；Judging whether the first extended child node with the smallest cost is within a switching threshold range, and obtaining a third judgment result, the switching threshold range is a range within a circle formed with the second starting point as the center and the set threshold as the radius;
当所述第三判断结果表示代价值最小的第一扩展子节点在切换阈值范围内时，判断所述第二起点是否为目标点，得到第四判断结果；When the third judgment result indicates that the first extended child node with the smallest cost value is within the switching threshold range, judge whether the second starting point is a target point, and obtain a fourth judgment result;
当所述第四判断结果表示所述第二起点为目标点时，节点扩展结束；When the fourth judgment result indicates that the second starting point is the target point, node expansion ends;
当所述第四判断结果表示所述第二起点不为目标点时，将所述代价值最小的第一扩展子节点作为第二扩展点，向第三起点进行节点扩展，生成第二扩展子节点，所述第二扩展子节点个数为正整数，所述第三起点为所述节点扩展的目标方向点，所述第三起点包括所述最终飞行线路中的第二引导点和目标点；When the fourth judgment result indicates that the second starting point is not the target point, take the first extended child node with the smallest cost value as the second extended point, extend the node to the third starting point, and generate the second extended child node node, the number of the second expanded sub-nodes is a positive integer, the third starting point is the target direction point expanded by the node, and the third starting point includes the second guide point and the target point in the final flight route ;
当所述第三判断结果表示代价值最小的第一扩展子节点不在切换阈值范围内时，将所述代价值最小的第一扩展子节点作为第二扩展点，继续向第二起点进行节点扩展，生成第三扩展子节点，所述第三扩展子节点个数为正整数。When the third judgment result indicates that the first extended child node with the smallest cost value is not within the switching threshold range, the first extended child node with the smallest cost value is used as the second extension point, and continues to expand the node to the second starting point , generating a third extended child node, where the number of the third extended child nodes is a positive integer.
一种无人机飞行导航的系统，所述系统包括：A system for flying and navigating an unmanned aerial vehicle, the system comprising:
起始点与目标点获取模块，用于获取无人机计划飞行的起始点与目标点；The starting point and target point acquisition module is used to obtain the starting point and target point of the drone's planned flight;
引导点确定模块，用于对所述目标点进行障碍检测，确定引导点，所述引导点包括第一类引导点和第二类引导点，所述第一类引导点为以所述目标点为目标进行障碍检测得到的引导点，所述第一类引导点中引导点的个数为正整数，所述第二类引导点为以所述第一类引导点为目标进行障碍检测得到的引导点，所述第二类引导点中引导点的个数为正整数；A guide point determination module, configured to perform obstacle detection on the target point and determine a guide point, the guide point includes a first type of guide point and a second type of guide point, the first type of guide point is based on the target point The guide points obtained by performing obstacle detection for the target, the number of guide points in the first type of guide points is a positive integer, and the second type of guide points are obtained by performing obstacle detection with the first type of guide points as the target Guiding points, the number of guiding points in the second type of guiding points is a positive integer;
飞行线路生成模块，用于根据所述引导点生成所述无人机的飞行线路，所述飞行线路的个数为正整数，所述飞行线路为起始点-第二引导点-第一引导点-目标点；The flight line generation module is used to generate the flight line of the drone according to the guide point, the number of the flight lines is a positive integer, and the flight line is the starting point-the second guide point-the first guide point -Target;
最终飞行线路确定模块，用于确定所述无人机的最终飞行线路；A final flight route determination module, configured to determine the final flight route of the unmanned aerial vehicle;
节点扩展模块，用于根据所述最终飞行线路进行节点扩展；A node expansion module, configured to perform node expansion according to the final flight line;
引导点切换模块，用于切换引导点进行节点扩展；The guide point switching module is used to switch the guide point for node expansion;
航迹线生成模块，用于生成所述无人机的航迹线；所述无人机按照所述航迹线导航进行飞行。The track line generation module is used to generate the track line of the unmanned aerial vehicle; the unmanned aerial vehicle flies according to the navigation of the track line.
可选的，所述引导点确定模块具体包括：Optionally, the guide point determination module specifically includes:
第一判断单元，用于判断所述起始点与所述目标点之间是否存在障碍物，得到第一判断结果；a first judging unit, configured to judge whether there is an obstacle between the starting point and the target point, and obtain a first judging result;
目标圆生成单元，用于当所述第一判断结果表示所述起始点与所述目标点之间存在障碍物时，以所述目标点中心为圆心、所述目标点中心与障碍物中心的距离为半径作圆，得到目标点圆；A target circle generating unit, configured to, when the first judgment result indicates that there is an obstacle between the starting point and the target point, take the center of the target point as the center of the circle, the center of the target point and the center of the obstacle Make a circle with the radius as the distance to get the target point circle;
第一规划空间获取单元，用于以所述目标圆圆心为转轴，以所述目标圆半径为半径，每隔预设角度进行障碍检测，得到约束条件下航迹代价最小的第一规划空间，所述第一规划空间为所述目标圆中的扇形区域；The first planning space acquisition unit is configured to use the center of the target circle as the rotation axis and the radius of the target circle as the radius to perform obstacle detection at every preset angle, so as to obtain the first planning space with the smallest track cost under constraint conditions, The first planning space is a fan-shaped area in the target circle;
第一类交点获取单元，用于在所述第一规划空间内，获取所述目标点圆与所述障碍物的交点，得到第一类交点；A first type of intersection acquisition unit, configured to acquire the intersection of the target point circle and the obstacle in the first planning space to obtain a first type of intersection;
第一类引导点确定单元，用于将所述第一类交点确定为所述第一类引导点；a first-type guiding point determining unit, configured to determine the first-type intersection point as the first-type guiding point;
第二判断单元，用于判断在所述目标点圆面积范围内，所述第一类引导点与所述起始点的连线之间是否存在障碍物，得到第二判断结果；A second judging unit, configured to judge whether there is an obstacle between the line connecting the first type of guiding point and the starting point within the circle area of the target point, and obtain a second judging result;
第一交点圆生成单元，用于当所述第二判断结果表示在所述目标点圆面积范围内，所述第一类引导点与所述起始点的连线之间存在障碍物时，以所述第一类引导点与所述起始点的连线和所述障碍物的交点为圆心、所述目标点中心与障碍物中心的距离为半径作圆，得到第一交点圆；The first intersection circle generation unit is configured to: when the second judgment result indicates that within the range of the target point circle area, there is an obstacle between the line connecting the first type of guide point and the starting point, by The intersection of the line connecting the first type of guiding point and the starting point and the obstacle is the center of the circle, and the distance between the center of the target point and the center of the obstacle is a radius to form a circle to obtain a first intersection circle;
第二规划空间获取单元，用于以所述第一交点圆圆心为转轴，以所述第一交点圆半径为半径，每隔预设角度进行障碍检测，得到约束条件下航迹代价最小的第二规划空间，所述第二规划空间为所述第一交点圆中的扇形区域；The second planning space acquisition unit is used to take the center of the first intersection circle as the rotation axis and the radius of the first intersection circle as the radius to perform obstacle detection at every preset angle, so as to obtain the first track with the smallest cost under constraints. Two planning spaces, the second planning space is a fan-shaped area in the first intersection circle;
无障碍点获取单元，用于在所述第二规划空间内，获取所述第一交点圆上与所述起始点连线之间无障碍物的点，得到无障碍点；An obstacle-free point acquisition unit, configured to acquire, in the second planning space, an obstacle-free point on the first intersection circle and a line connecting the starting point to obtain an obstacle-free point;
第二类引导点确定单元，用于确定所述无障碍点中距离所述起始点最近的点为第二类引导点。The second-type guiding point determination unit is configured to determine, among the barrier-free points, the point closest to the starting point as the second-type guiding point.
可选的，所述最终飞行线路确定模块，具体包括：Optionally, the final flight route determination module specifically includes:
代价值确定单元，用于利用代价函数确定所述飞行线路的代价值；其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，ω1、ω2为相应权重系数；Cost value determination unit for exploiting the cost function Determine the cost value of the flight line; where li is the track length between node i-1 and node i, fi is the threat probability value between node i-1 and node i, ω1 , ω2 is the corresponding weight coefficient;
最终飞行路线确定单元，用于将代价值最小的所述飞行线路确定为最终飞行线路。A final flight route determining unit, configured to determine the flight route with the smallest cost value as the final flight route.
可选的，所述节点扩展模块，具体包括：Optionally, the node expansion module specifically includes:
第一扩展子节点生成单元，用于以第一起点为第一扩展点，向第二起点进行节点扩展，生成第一扩展子节点，所述第一扩展子节点个数为正整数；所述第一起点为所述节点扩展的起点，所述第一起点包括所述最终飞行线路中的起始点；所述第二起点为所述节点扩展的目标方向点，所述第二起点包括所述最终飞行线路中的第二引导点、第一引导点和目标点；The first extended sub-node generation unit is configured to use the first starting point as the first extension point to extend the node to the second starting point to generate a first extended sub-node, and the number of the first extended sub-nodes is a positive integer; The first starting point is the starting point of the node expansion, and the first starting point includes the starting point in the final flight route; the second starting point is the target direction point of the node expansion, and the second starting point includes the the second guidance point, the first guidance point and the target point in the final flight line;
代价值确定单元，用于利用公式确定第一扩展子节点的代价值；其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，d(n)为当前节点n到目标点的预估航迹长度，ω1、ω2、ω3为相应权重系数；Cost value determination unit for utilizing the formula Determine the cost value of the first extended child node; where li is the track length between node i-1 and node i, fi is the threat probability value received between node i-1 and node i, d(n) is the estimated track length from the current node n to the target point, and ω1 , ω2 , ω3 are the corresponding weight coefficients;
最小代价值确定单元，用于确定代价值最小的第一扩展子节点。The minimum cost value determination unit is configured to determine the first extended child node with the minimum cost value.
可选的，所述引导点切换模块，具体包括：Optionally, the guide point switching module specifically includes:
第三判断单元，用于判断代价值最小的第一扩展子节点是否在切换阈值范围内，得到第三判断结果，所述切换阈值范围为以所述第二起点为圆心、以设定阈值为半径构成的圆内范围；The third judging unit is configured to judge whether the first extended child node with the smallest cost value is within the switching threshold range, and obtain a third judging result, the switching threshold range is centered on the second starting point and the set threshold is The range within the circle formed by the radius;
第四判断单元，用于当所述第三判断结果表示代价值最小的第一扩展子节点在切换阈值范围内时，判断所述第二起点是否为目标点，得到第四判断结果；A fourth judging unit, configured to judge whether the second starting point is a target point when the third judging result indicates that the first extended child node with the smallest cost value is within the switching threshold range, and obtain a fourth judging result;
节点扩展结束单元，用于当所述第四判断结果表示所述第二起点为目标点时，结束节点扩展；A node expansion end unit, configured to end node expansion when the fourth judgment result indicates that the second starting point is the target point;
第二扩展子节点生成单元，用于当所述第四判断结果表示所述第二起点不为目标点时，将所述代价值最小的第一扩展子节点作为第二扩展点，向第三起点进行节点扩展，生成第二扩展子节点，所述第二扩展子节点个数为正整数，所述第三起点为所述节点扩展的目标方向点，所述第三起点包括所述最终飞行线路中的第二引导点和目标点；The second extended child node generation unit is configured to use the first extended child node with the smallest cost value as the second extended point when the fourth judgment result indicates that the second starting point is not the target point, and send the second extended child node to the third extended child node. The starting point is extended to generate a second extended child node, the number of the second extended child nodes is a positive integer, the third starting point is the target direction point of the node expansion, and the third starting point includes the final flight Second lead point and target point in the route;
第三扩展子节点生成单元，用于当所述第三判断结果表示代价值最小的第一扩展子节点不在切换阈值范围内时，将所述代价值最小的第一扩展子节点作为第二扩展点，继续向第二起点进行节点扩展，生成第三扩展子节点，所述第三扩展子节点个数为正整数。A third extended child node generating unit, configured to use the first extended child node with the smallest cost value as the second extended child node when the third judgment result indicates that the first extended child node with the smallest cost value is not within the switching threshold range point, continue to extend the node to the second starting point to generate a third extended child node, and the number of the third extended child node is a positive integer.
根据本发明提供的具体实施例，本发明公开了以下技术效果：According to the specific embodiments provided by the invention, the invention discloses the following technical effects:
本发明通过沿约束方向基于圆拓展的方法避开障碍物产生引导点，并通过代价值函数选择代价最小的引导点为目标引导点，向引导点区域搜索，最终通过节点扩展生成航迹线，使得无人机按照航迹线导航进行飞行。该方法可以在目标点的威胁区域，根据方向约束的不同，在约束区域，沿约束方向自主检测产生引导点，避免手动设置的不足，提高精确度。同时，由于引导点的产生，为无人机的自主飞行提供方向指引，提高了飞行效率，满足无人机自主飞行的实时性要求。The present invention avoids obstacles to generate guide points by means of circle expansion along the constraint direction, and selects the guide point with the smallest cost as the target guide point through the cost value function, searches for the guide point area, and finally generates the flight path through node expansion. Make the UAV fly according to the track line navigation. This method can autonomously detect and generate guide points along the constraint direction in the threat area of the target point according to the different direction constraints, avoiding the shortage of manual setting and improving the accuracy. At the same time, due to the generation of the guide point, it provides direction guidance for the autonomous flight of the UAV, improves the flight efficiency, and meets the real-time requirements of the autonomous flight of the UAV.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1为本发明无人机飞行导航的方法流程图；Fig. 1 is the method flowchart of unmanned aerial vehicle flight navigation of the present invention;
图2为本发明无人机飞行导航的系统结构图；Fig. 2 is the system structural diagram of unmanned aerial vehicle flight navigation of the present invention;
图3为本发明无人机飞行导航方法的引导点确定示意图；Fig. 3 is the schematic diagram of determining the guide point of the UAV flight navigation method of the present invention;
图4为本发明无人机飞行导航方法中节点拓展示意图；Fig. 4 is a schematic diagram of node expansion in the UAV flight navigation method of the present invention;
图5为传统无人机飞行导航的航迹确定示意图；Fig. 5 is a schematic diagram of track determination for traditional UAV flight navigation;
图6为本发明具体实施例1静态环境下航迹线导航无人机飞行示意图；Fig. 6 is a schematic diagram of the flight of the track line navigation UAV in a static environment according to Embodiment 1 of the present invention;
图7为本发明具体实施例1动态环境下航迹线导航无人机飞行示意图。Fig. 7 is a schematic diagram of flight path navigation UAV in a dynamic environment according to Embodiment 1 of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
图1为本发明无人机飞行导航的方法流程图。如图1所示，所述方法包括：Fig. 1 is the flow chart of the method for flying and navigating the UAV of the present invention. As shown in Figure 1, the method includes:
步骤101：获取无人机计划飞行的起始点与目标点。可以手动输入计划飞行的起始点和目标点的坐标。Step 101: Obtain the starting point and target point of the drone's planned flight. The coordinates of the start and target points of the planned flight can be entered manually.
步骤102：对目标点进行障碍检测，确定引导点。具体确定过程：Step 102: Perform obstacle detection on the target point, and determine the guide point. The specific determination process:
从起始点至目标点的航迹规划过程中，首先判断起始点与目标点之间是否存在障碍物，存在障碍物时才会涉及下列设置引导点的过程。In the process of track planning from the starting point to the target point, firstly judge whether there is an obstacle between the starting point and the target point, and only when there is an obstacle will the following process of setting the guide point be involved.
(1)在目标点附近进行障碍检测，寻找约束条件下航迹代价最小的规划空间。(1) Carry out obstacle detection near the target point, and find the planning space with the smallest track cost under the constraints.
(2)以目标点为圆心、遮挡物OB长为半径(O为圆心，即目标点中心)作圆。将所作圆与障碍物的交点设为第一类引导点，第一类引导点一般是障碍物的边界点，能够保证目标点与第一类引导点之间没有障碍物，并且距离障碍物最近，这样能够使得航迹代价值最小。产生第一类引导点后，在所作圆内部范围内判断该第一类引导点与起始点的连线方向上是否还存在遮挡，若存在遮挡，则以产生的第一类引导点为新圆心、障碍物长度为半径作新圆，选取所作新圆上与起始点连线之间无障碍物的点，确定其中距离起始点最近的点为第二类引导点，按上述方法继续产生引导点，直至符合条件为止；若不存在遮挡，则只产生第一类引导点即可。(2) Make a circle with the target point as the center and the length of the occluder OB as the radius (O is the center of the circle, that is, the center of the target point). Set the intersection point of the circle and the obstacle as the first type of guide point. The first type of guide point is generally the boundary point of the obstacle, which can ensure that there is no obstacle between the target point and the first type of guide point, and the distance from the obstacle is the closest , so that the trajectory cost can be minimized. After generating the first type of guide point, judge whether there is still occlusion in the direction of the connection between the first type of guide point and the starting point within the inner range of the circle, if there is occlusion, use the generated first type of guide point as the new circle center , The length of the obstacle is the radius to make a new circle, select the point on the new circle with no obstacle between the line connecting the starting point, and determine the point closest to the starting point as the second type of guiding point, continue to generate guiding points according to the above method , until the conditions are met; if there is no occlusion, only the first type of guide points can be generated.
图3为本发明无人机飞行导航方法的引导点确定示意图。如图所示，四角星为目标点，黑色圆点为起始点，灰色的实多边形为遮挡物。首先以目标点O为圆心，按照上述方法作圆，以所作圆圆心为转轴，以所作圆半径为半径，每隔预设角度进行障碍检测，(即进行直线检测，圆心到圆边缘)得到约束条件下航迹代价最小的第一规划空间，第一规划空间为所述目标圆中的扇形区域，即图4中B顺时针到A与O组成的扇形区域(即扇形区域AOB)；由于障碍检测就是检测有无障碍物遮挡，有障碍物遮挡的地方必然航迹代价高，因此，第一规划空间内圆心与圆边缘连线(半径)之间必然无障碍物遮挡，本发明预设角度可以为5度，也就是每隔5度进行障碍检测，角度越小精度越高，相应的系统响应时间较长；反之精度低，反应时间段系统开支小。Fig. 3 is a schematic diagram of determining the guide point of the UAV flight navigation method of the present invention. As shown in the figure, the four-pointed star is the target point, the black circle is the starting point, and the gray solid polygon is the occluder. First, take the target point O as the center of the circle, make a circle according to the above method, take the center of the circle as the axis of rotation, and the radius of the circle as the radius, and perform obstacle detection at every preset angle (that is, perform straight line detection, from the center of the circle to the edge of the circle) to be constrained The first planning space with the minimum track cost under the condition, the first planning space is the fan-shaped area in the target circle, that is, the fan-shaped area (that is, the fan-shaped area AOB) composed of B clockwise to A and O in Fig. 4; Detection is to detect whether there is an obstacle blocking, and the place where there is an obstacle blocking must have a high track cost. Therefore, there must be no obstacle blocking between the center of the circle and the line (radius) of the circle edge in the first planning space. The preset angle of the present invention It can be 5 degrees, that is, obstacle detection is performed every 5 degrees. The smaller the angle, the higher the accuracy, and the corresponding system response time is longer; otherwise, the accuracy is low, and the system expenditure in the response time period is small.
得到引导点D1和D2，即为第一类引导点。由于引导点D1和D2在所作圆内部范围内与起始点的连线方向上仍然存在遮挡，故需要以引导点D1和D2为圆心分别再次进行检测。以引导点D1为圆心作圆，进行障碍检测，则引导点D3顺时针到目标点O的扇形范围为第二规划空间。选取所作圆上点与起始点连线无遮挡时，距离起始点最近的点作为引导点，即引导点D3。交点D4是与第一个检测圆的交点，由于其与起始点连线之间有遮挡，故将其舍去。同理以引导点D2为圆心产生符合条件的可行引导区域(约束条件下航迹代价最小的规划空间)是引导点D5逆时针到目标点的扇形范围。其中引导点D5符合条件且最优。交点D6与起始点连线有遮挡，故将其舍去。D4和D5即为第二类引导点。The guide points D1 and D2 are obtained, which are the first type of guide points. Since the guide points D1 and D2 still have occlusions in the direction of the line connecting the starting point within the inner range of the circle, it is necessary to perform detection again with the guide points D1 and D2 as the center of the circle. A circle is drawn with the guide point D1 as the center to perform obstacle detection, and the fan-shaped range from the guide point D3 clockwise to the target point O is the second planning space. Select the point closest to the starting point when the line connecting the point on the circle and the starting point is unobstructed as the guiding point, that is, guiding point D3. The point of intersection D4 is the point of intersection with the first detection circle, and it is discarded because there is an obstruction between it and the line connecting the starting point. Similarly, taking the guidance point D2 as the center of the circle to generate a qualified feasible guidance area (the planning space with the least track cost under constraint conditions) is the fan-shaped range from the guidance point D5 counterclockwise to the target point. Among them, the guide point D5 meets the conditions and is optimal. The line connecting the intersection point D6 and the starting point is blocked, so it is discarded. D4 and D5 are the second type of guidance points.
随着应用环境的日益复杂，引导点的产生是为了帮助无人机在强约束条件下提高飞行效率，满足实时性。本发明中障碍物的大小已知，所以充分利用这个条件作为后续引导点产生的原则。在实际应用中，障碍物是不规则的，一般选择障碍物的边界点作为第一类引导点，这样可以最大限度的利用已探测到的数据资源，减小系统开支。至于是否必须使用作圆的方式产生引导点，没有固定要求，也可以采用其他方式生成。本模型主要借鉴雷达探测的方式(雷达在现实社会的应用广泛而深远)，在一定区域内进行目标探测(此处是障碍物)，可以通过改变探测角度的大小来满足不同精度的探测需求，角度越小精度越高，相应的系统响应时间较长；反之精度低，反应时间段系统开支小。As the application environment becomes increasingly complex, the guide point is created to help UAVs improve flight efficiency and meet real-time requirements under strong constraints. In the present invention, the size of the obstacle is known, so this condition is fully utilized as the principle for subsequent guidance point generation. In practical applications, obstacles are irregular, and the boundary points of obstacles are generally selected as the first type of guidance points, which can maximize the use of detected data resources and reduce system costs. As for whether it is necessary to use the method of making circles to generate guide points, there is no fixed requirement, and other methods can also be used to generate them. This model mainly draws on the way of radar detection (radar is widely and far-reaching in real society), and detects targets in a certain area (here is obstacles), and can meet the detection requirements of different precision by changing the detection angle. The smaller the angle is, the higher the precision is, and the corresponding system response time is longer; otherwise, the precision is low, and the system expenditure in the response time period is small.
步骤103：生成飞行线路。根据步骤102确定的引导点，可以得到多个无人机的飞行线路。Step 103: Generate flight lines. According to the guide point determined in step 102, the flight routes of multiple drones can be obtained.
以图3为例，生成的飞行线路为：Taking Figure 3 as an example, the generated flight line is:
(1)起始点—引导点D3—引导点D1—目标点。(1) Starting point—guiding point D3—guiding point D1—target point.
(2)起始点—引导点D5—引导点D2—目标点。(2) Starting point—guiding point D5—guiding point D2—target point.
本发明确定的引导点在飞行导航中不是必经点，即航迹不需要经过该点，引导点只是辅助无人机进行目标搜索，是目标搜索的指引方向，提高其搜索效率，同时帮助无人机高效完成有特殊约束条件的任务，如方向敏感性任务。The guide point determined by the present invention is not a necessary point in flight navigation, that is, the track does not need to pass through this point, and the guide point is only to assist the UAV to search for a target, which is the guiding direction of the target search, improves its search efficiency, and helps unmanned Man-machines efficiently complete tasks with special constraints, such as direction-sensitive tasks.
步骤104：确定最终飞行线路。选择不同的引导点，对整个航迹的走势有很大影响。根据步骤103生成的多条飞行线路，可以采用代价函数确定所述飞行线路的代价值，进行引导点的选择，主要考虑航迹长度和航迹威胁代价两个因素。从起始点向着符合条件的引导点进行直线规划，选择总体代价较小的引导点为目标引导点，其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，ω1、ω2为相应权重系数；将代价值最小的所述飞行线路确定为最终飞行线路。Step 104: Determine the final flight route. Choosing different guide points has a great influence on the trend of the entire track. According to the multiple flight lines generated in step 103, the cost function can be used To determine the cost value of the flight path and select the guide point, two factors, the length of the flight path and the threat cost of the flight path, are mainly considered. Carry out linear planning from the starting point to the guiding point that meets the conditions, and select the guiding point with a smaller overall cost as the target guiding point, where li is the track length between node i-1 and node i, fi is the node i- The threat probability value between 1 and node i, ω1 and ω2 are the corresponding weight coefficients; the flight route with the smallest cost value is determined as the final flight route.
步骤105：进行节点扩展。根据最大扩展节点数M，以第一起点为第一扩展点，向第二起点进行节点扩展，生成第一扩展子节点，第一扩展子节点个数为正整数，可以为7个；第一起点为所述节点扩展的起点，第一起点包括所述最终飞行线路中的起始点；所述第二起点为所述节点扩展的目标方向点，所述第二起点包括所述最终飞行线路中的第二引导点、第一引导点和目标点；Step 105: Perform node expansion. According to the maximum number of expanded nodes M, the first starting point is used as the first expansion point, and the node is expanded to the second starting point to generate the first expanded child node. The number of the first expanded child node is a positive integer, which can be 7; Point is the starting point of the node expansion, the first starting point includes the starting point in the final flight line; the second starting point is the target direction point of the node expansion, and the second starting point includes the final flight line The second guide point, the first guide point and the target point of ;
利用代价函数确定第一扩展子节点的代价值；其中li为节点i-1到节点i之间的航迹长度，fi为节点i-1到节点i之间受到的威胁概率值，d(n)为当前节点n到目标点的预估航迹长度，ω1、ω2、ω3为相应权重系数。确定代价值最小的第一扩展子节点。Using the cost function Determine the cost value of the first extended child node; where li is the track length between node i-1 and node i, fi is the threat probability value received between node i-1 and node i, d(n) is the estimated track length from the current node n to the target point, and ω1 , ω2 , ω3 are the corresponding weight coefficients. Determine the first expanded child node with the smallest cost value.
图4为本发明无人机飞行导航方法中节点拓展示意图。参见图4，从起始点向目标点进行路径规划，N0为扩展点，其首先向着引导点D3进行节点扩展，N1-N4为节点N0的扩展子节点。则N0为第一起点，D3则为第二起点，N1-N4为第一扩展子节点。通过计算第一扩展子节点N1-N4的代价值，最终确定N2为代价值最小的第一扩展子节点，则航迹是从N0-->N2。Fig. 4 is a schematic diagram of node expansion in the UAV flight navigation method of the present invention. Referring to FIG. 4 , path planning is performed from the starting point to the target point. N0 is an extension point, which first expands nodes toward the guide point D3 , and N1 -N4 are extended child nodes of node N0 . Then N0 is the first starting point, D3 is the second starting point, and N1 -N4 are the first extended child nodes. By calculating the cost values of the first extended child nodes N1 -N4 , it is finally determined that N2 is the first extended child node with the smallest cost value, and the trajectory is from N0 --> N2 .
步骤106：切换引导点继续节点扩展。Step 106: switch the guide point and continue node expansion.
首先需要判断代价值最小的第一扩展子节点是否在切换阈值范围内，切换阈值范围为以所述第二起点为圆心、以设定阈值为半径构成的圆内范围；First, it is necessary to determine whether the first extended child node with the smallest cost is within the switching threshold range, and the switching threshold range is the range within a circle formed with the second starting point as the center and the set threshold as the radius;
当代价值最小的第一扩展子节点在切换阈值范围内时，需要判断所述第二起点是否为目标点，当第二起点是目标点时，则表示达到目标点，拓展结束。When the first extended child node with the smallest contemporary value is within the switching threshold range, it is necessary to determine whether the second starting point is the target point. If the second starting point is the target point, it means that the target point has been reached, and the expansion ends.
当第二起点不是目标点时，将代价值最小的第一扩展子节点作为第二扩展点，向第三起点进行节点扩展，生成第二扩展子节点。When the second starting point is not the target point, the first extended child node with the smallest cost value is used as the second extended point, and the node is extended to the third starting point to generate the second extended child node.
当代价值最小的第一扩展子节点不在切换阈值范围内时，将所述代价值最小的第一扩展子节点作为第二扩展点，继续向第二起点进行节点扩展，生成第三扩展子节点。When the first extended child node with the smallest value is not within the range of the switching threshold, the first extended child node with the smallest cost value is used as the second extended point, and node extension is continued to the second starting point to generate a third extended child node.
以步骤105的图4为例，首先判断代价值最小的第一扩展子节点N2是否在D3的切换阈值范围内，当N2在切换阈值范围内时，判断D3是否为目标点，如果D3是目标点，则扩展结束；如果D3不是目标点，将N2作为第二扩展点，切换为向第三起点D1进行扩展；Taking Fig. 4 of step 105 as an example, it is first judged whether the first extended child nodeN2 with the smallest cost value is within the switching threshold range ofD3 , and whenN2 is within the switching threshold range, it is judged whetherD3 is the target point, If D3 is the target point, the expansion ends; if D3 is not the target point, use N2 as the second expansion point, and switch to the third starting point D1 for expansion;
当N2不在切换阈值范围内时，将N2作为下一个扩展点，继续向D3进行扩展。When N2 is not within the range of the switching threshold, N2 is taken as the next extension point and continues to expand to D3 .
引导点的切换阈值过大或过小都将对规划航迹产生很大影响。切换阈值过大，容易导致引导点的引导力度不足，即引导作用没有充分发挥，同时容易发生多个引导点都在切换阈值范围内的情况，增大系统开销。切换阈值过小，容易导致僵化引导，使规划出的航迹丧失最优性。因此，切换阈值的合理选择是最优航迹成功规划的保证。例如，引导点的切换阈值设置为3个最小步长，当最后产生的拓展节点与目标点的直线距离小于最小步长时，即为到达目标点。If the switching threshold of the guidance point is too large or too small, it will have a great impact on the planned trajectory. If the switching threshold is too large, it is likely to lead to insufficient guidance of the guiding point, that is, the guiding effect is not fully exerted, and at the same time, it is easy to happen that multiple guiding points are all within the range of the switching threshold, which increases the system overhead. If the switching threshold is too small, it will easily lead to rigid guidance and make the planned trajectory lose the optimality. Therefore, the reasonable selection of the switching threshold is the guarantee for the successful planning of the optimal trajectory. For example, the switching threshold of the guide point is set to 3 minimum steps, and when the straight-line distance between the last expanded node and the target point is less than the minimum step, the target point is reached.
步骤107：生成航迹线，导航无人机飞行。根据节点扩展的过程，生成最终的航迹线，利用该航迹线导航无人机飞行。Step 107: Generate track lines to navigate the flight of the UAV. According to the process of node expansion, the final trajectory is generated, and the trajectory is used to navigate the flight of the UAV.
图2为本发明无人机飞行导航的系统结构图。如图2所示，该系统包括：Fig. 2 is a system structure diagram of the flight navigation of the UAV of the present invention. As shown in Figure 2, the system includes:
起始点与目标点获取模块201，用于获取无人机计划飞行的起始点与目标点。The starting point and target point acquisition module 201 is used to acquire the starting point and target point of the drone's planned flight.
引导点确定模块202，用于对所述目标点进行障碍检测，确定引导点，所述引导点包括第一类引导点和第二类引导点，所述第一类引导点为以所述目标点为目标进行障碍检测得到的引导点，所述第一类引导点中引导点的个数为正整数，所述第二类引导点为以所述第一类引导点为目标进行障碍检测得到的引导点，所述第二类引导点中引导点的个数为正整数。本发明以确定2类引导点为例，在实际应用中不局限于确定2类引导点，当确定第一类引导点便符合条件时，无需再确定第二类引导点。具体引导点确定过程参见本发明方法流程图中步骤102。The guide point determination module 202 is configured to perform obstacle detection on the target point and determine the guide point, the guide point includes a first type of guide point and a second type of guide point, the first type of guide point is based on the target The point is a guide point obtained by performing obstacle detection on the target, the number of guide points in the first type of guide point is a positive integer, and the second type of guide point is obtained by performing obstacle detection with the first type of guide point as the target guide points, the number of guide points in the second type of guide points is a positive integer. The present invention takes determining two types of guiding points as an example, and is not limited to determining two types of guiding points in practical applications. When the first type of guiding point is determined to meet the conditions, there is no need to determine the second type of guiding point. Refer to step 102 in the flow chart of the method of the present invention for the specific guide point determination process.
飞行线路生成模块203，用于根据所述引导点生成所述无人机的飞行线路，所述飞行线路的个数为正整数，所述飞行线路为起始点-第二引导点-第一引导点-目标点，本发明以两类引导点为例得到的飞行线路，但是局限于此飞行线路。当引导点只需确定第一类引导点便可实现本发明想要实现的效果是，此时飞行线路则是起始点-第一引导点-目标点。The flight line generation module 203 is used to generate the flight line of the drone according to the guide point, the number of the flight lines is a positive integer, and the flight line is the starting point-the second guide point-the first guide Point-target point, the present invention takes two types of guide points as examples to obtain the flight path, but is limited to this flight path. When the guide point only needs to determine the first type of guide point to achieve the intended effect of the present invention, the flight line is the starting point-the first guide point-the target point.
最终飞行线路确定模块204，用于确定所述无人机的最终飞行线路。具体确定过程参见步骤104。The final flight route determination module 204 is configured to determine the final flight route of the drone. Refer to step 104 for a specific determination process.
节点扩展模块205，用于根据所述最终飞行线路进行节点扩展。具体扩展过程详见步骤105。A node expansion module 205, configured to perform node expansion according to the final flight path. See step 105 for details about the specific expansion process.
引导点切换模块206，用于切换引导点进行节点扩展。The guide point switching module 206 is configured to switch the guide point for node expansion.
航迹线生成模块207，用于生成所述无人机的航迹线；所述无人机按照所述航迹线导航进行飞行。The track line generating module 207 is configured to generate the track line of the UAV; the UAV flies according to the track line navigation.
图5为传统无人机飞行导航的航迹确定示意图。如图5所示，传统无人机飞行导航的航迹线确定为在动态环境中寻找可行路径较为有效，逐步扩展节点向目标点移动，其扩展只检查理想最短路径上下一节点的变化情况，对距离较远的路径上的变化不敏感。当理想航迹上出现大面积遮挡，同时要求无人机从特定的方向进入目标点时，D*算法在遮挡区进行大量的回退扩展，寻找可行路径，消耗大量系统资源和时间，使算法规划效率低下。Fig. 5 is a schematic diagram of track determination for traditional UAV flight navigation. As shown in Figure 5, the trajectory of the traditional UAV flight navigation is determined to be more effective in finding a feasible path in a dynamic environment, and gradually expand the node to move to the target point. The expansion only checks the change of the next node on the ideal shortest path. Insensitive to changes on paths with greater distances. When there is a large area of occlusion on the ideal track and the UAV is required to enter the target point from a specific direction, the D* algorithm performs a large number of back-off expansions in the occlusion area to find a feasible path, consuming a lot of system resources and time, making the algorithm Planning is inefficient.
本发明无人机飞行导航的方法及系统具体实施例1：The method and system specific embodiment 1 of the flight navigation of the unmanned aerial vehicle of the present invention:
本实施例是在Intel(R)Xeon(R)CPU E5-2603v3,1.6GHz,8GB内存的PC机上进行的仿真实验，运行环境为Windows764位操作系统，编程环境为Matlab R2012b。实验使用500km×500km的数字高程地图，无人机最大转弯角为60°，最小步长Lmin＝5km，最大扩展节点数为7，航迹评估函数的权重系数ω1、ω2、ω3分别为0.001、300、0.1。This embodiment is a simulation experiment carried out on a PC with Intel(R) Xeon(R) CPU E5-2603v3, 1.6GHz, and 8GB memory. The operating environment is Windows764-bit operating system, and the programming environment is Matlab R2012b. The experiment uses a digital elevation map of 500km×500km, the maximum turning angle of the UAV is 60°, the minimum step size Lmin =5km, the maximum number of expansion nodes is 7, and the weight coefficients of the track evaluation function ω1 , ω2 , ω3 They are 0.001, 300, 0.1 respectively.
仿真实验分为静态环境和动态环境两部分。在静态环境中，使无人机从起始点向目标点进行航迹规划，在目标点周围设置强约束条件，比较引导点的有无对航迹规划代价及效率的影响。The simulation experiment is divided into two parts: static environment and dynamic environment. In a static environment, the UAV is used to plan the trajectory from the starting point to the target point, and strong constraints are set around the target point, and the influence of the presence or absence of guidance points on the cost and efficiency of trajectory planning is compared.
静态环境下，使无人机从障碍物右下角方向进入目标点。起始点坐标为(46,396)，目标点坐标为(341,216)；第二组实验，起始点坐标为(71,196)，目标点坐标为(366,366)。参见图6，图6为本发明具体实施例1静态环境下航迹线导航无人机飞行示意图。其中(a)为传统无引导点时无人机飞行线路示意图，(b)为本发明无人机飞行线路示意图。关于传统航迹规划阶段与本申请航迹规划阶段的性能对比参见表1：In a static environment, make the drone enter the target point from the lower right corner of the obstacle. The coordinates of the starting point are (46,396), and the coordinates of the target point are (341,216); in the second group of experiments, the coordinates of the starting point are (71,196), and the coordinates of the target point are (366,366). Referring to FIG. 6 , FIG. 6 is a schematic diagram of flight path navigation UAV in a static environment according to Embodiment 1 of the present invention. Wherein (a) is a schematic diagram of the flight circuit of the UAV when there is no guidance point in the tradition, and (b) is a schematic diagram of the flight circuit of the UAV in the present invention. See Table 1 for the performance comparison between the traditional track planning stage and the track planning stage of this application:
表1Table 1
动态环境下，要求无人机从目标点的右下角进入目标点。起始点位置不变仍为(46,396)，目标点位置由原先坐标(341,216)沿某一固定方向移动到(416,216)。假定无人机的飞行速度是目标点移动速度的5倍，即目标点每移动一个步长，无人机移动5个航迹段长度。参见图7，图7为本发明具体实施例1动态环境下航迹线导航无人机飞行示意图。其中(a)为传统无引导点时无人机飞行线路示意图，(b)为本发明无人机飞行线路示意图。关于传统航迹规划阶段与本申请航迹规划阶段的性能对比参见表2：In a dynamic environment, the UAV is required to enter the target point from the lower right corner of the target point. The position of the starting point remains unchanged at (46,396), and the position of the target point moves from the original coordinates (341,216) to (416,216) along a certain fixed direction. Assume that the flying speed of the UAV is 5 times the moving speed of the target point, that is, the UAV moves 5 track segment lengths every time the target point moves one step. Referring to FIG. 7 , FIG. 7 is a schematic diagram of flight path navigation UAV in a dynamic environment according to Embodiment 1 of the present invention. Wherein (a) is a schematic diagram of the flight circuit of the UAV when there is no guidance point in the tradition, and (b) is a schematic diagram of the flight circuit of the UAV in the present invention. See Table 2 for the performance comparison between the traditional track planning stage and the track planning stage of this application:
表2Table 2
由表2可知，动态环境下，本发明结合引导点的规划方法相比传统规划方法D*算法，其在规划用时、航迹长度和航迹总代价等方面都明显优于单纯的D*算法。It can be seen from Table 2 that in a dynamic environment, compared with the traditional planning method D* algorithm, the planning method combined with guide points in the present invention is significantly better than the simple D* algorithm in terms of planning time, track length and total cost of the track. .
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to the present invention Thoughts, there will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting the present invention.
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