CN116400722A - Unmanned aerial vehicle obstacle avoidance flight method and related device - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle obstacle avoidance flight method and a related device.
Description
Technical Field
The invention relates to an unmanned aerial vehicle obstacle avoidance flight method and a related device, and belongs to the technical field of unmanned aerial vehicle application.
Background
Unmanned aerial vehicle autonomous obstacle avoidance technology is an important technical index proposed by the increasingly development of unmanned aerial vehicle autonomous intelligence in recent years, and many unmanned aerial vehicle manufacturers start to use an autonomous obstacle avoidance system as a basic configuration of the unmanned aerial vehicle. In the unmanned aerial vehicle system, a qualified obstacle avoidance system can reduce the cost of human misoperation and reduce the accident rate, the stability of the obstacle avoidance system is a key for determining whether the unmanned aerial vehicle is intelligent, and the unmanned aerial vehicle obstacle avoidance technical principle mainly utilizes an airborne or other auxiliary sensors to acquire the position information, the speed information and other effective information of surrounding obstacles, so that the obstacle is avoided by independently planning a reasonable route, and the safety of the unmanned aerial vehicle is ensured. The existing obstacle avoidance technology has CN215098308U, CN204846371U, but is not the obstacle avoidance technology based on the most comprehensive obstacle coordinates, and the corresponding path is not the optimal path.
Disclosure of Invention
The invention provides an unmanned aerial vehicle obstacle avoidance flying method and a related device, and solves the problems disclosed in the background technology.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned aerial vehicle obstacle avoidance flight method, comprising:
calculating the coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle;
obtaining the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located;
and controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
When calculating the coordinates of each obstacle, if no other obstacle exists between the two obstacles and the distance is smaller than 2R s Generating new obstacle coordinates in a linear range between two obstacles; wherein R is s Is the maximum circumcircle diameter of the unmanned plane body.
Obtaining the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle, wherein the method comprises the following steps:
according to pre-predictionThe set gravitation function and the current target point coordinate of the unmanned aerial vehicle calculate the gravitation F of the current target to the unmanned aerial vehicle a ；
According to a preset repulsive force function and each obstacle coordinate, calculating repulsive force of each obstacle to the unmanned aerial vehicle;
if the resultant force of all repulsive forces and attractive force F a Is unequal in magnitude or direction, and calculates the attractive force F a And the resultant force F of all repulsive forces 1 Will be resultant force F 1 Is used as the flying direction of the unmanned plane;
if the resultant force of all repulsive forces and attractive force F a Is equal in size and opposite in direction, and calculates the attraction F of the next target to the unmanned aerial vehicle according to a preset attraction function and the coordinate of the next target point of the unmanned aerial vehicle c Calculate the attraction force F a Attraction force F c And the resultant force F of all repulsive forces 2 Will be resultant force F 2 Is the direction of flight of the unmanned aerial vehicle.
The formula of the gravitation function is:
in U a As a function of attraction, K a Is the coefficient of gravity, X n 、X m The current coordinates of the unmanned aerial vehicle and the current target point coordinates of the unmanned aerial vehicle, ρ (X n ,X m ) Gamma is the distance between the unmanned plane and the current target point a The attraction force adjustment factor is obtained by calculation according to the distance between the unmanned aerial vehicle and each obstacle and the farthest distance between the obstacles in the obstacle group, wherein the obstacle group is a set formed by the obstacles with the x/y/z coordinates different by 1 coordinate unit.
The formula of the gravitational force adjustment factor is:
wherein X is g For obstacle coordinates ρ (X n ,X g ) R is the distance between the unmanned aerial vehicle and the obstacle 0 Is half of the furthest distance between the obstacles in the obstacle group, ρ 0 To influence radius of obstacle ρ 0 ＝nL min N is a positive real number, L min The shortest distance that the unmanned aerial vehicle must fly straight before changing the flight attitude is provided.
The formula of the repulsive force function is:
in U b As a repulsive force function, K b To repulsive force coefficient, X n 、X g The current coordinates and the obstacle coordinates of the unmanned plane, ρ (X n ,X g ) ρ is the distance between the unmanned aerial vehicle and the obstacle 0 To influence radius of obstacle ρ 0 ＝nL min N is a positive real number, L min For the shortest distance that the unmanned plane must fly straight before changing the flight attitude, gamma b And the repulsive force adjustment factor is obtained by calculation according to the distance between the unmanned aerial vehicle and each obstacle.
The formula of the repulsive force adjustment factor is:
the attraction force and the repulsion force are obtained by calculating the negative gradients of the attraction force function and the repulsion force function respectively;
resultant force F 1 The formula of (2) is: f (F) 1 ＝F a +∑F b The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is b Sigma F is repulsive force of the obstacle to the unmanned aerial vehicle b Is the resultant of all repulsive forces;
resultant force F 2 The formula of (2) is: f (F) 2 ＝F a +∑F b +F c 。
An unmanned aerial vehicle keeps away barrier flight device, includes:
the obstacle coordinate calculation module calculates the coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle;
the flight direction acquisition module is used for acquiring the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located;
and the obstacle avoidance flight control module is used for controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform an unmanned aerial vehicle obstacle avoidance flight method.
The invention has the beneficial effects that: according to the invention, all obstacle coordinates in the current induction range are obtained based on the current coordinates of the unmanned aerial vehicle and the distance from the obstacle in the current induction range, and the flight direction of the unmanned aerial vehicle is obtained by combining the current target point coordinates of the unmanned aerial vehicle, so that the unmanned aerial vehicle obstacle avoidance flight is realized based on the most comprehensive obstacle coordinates, and the obstacle avoidance path is optimal.
Drawings
FIG. 1 is a flow chart of a method of unmanned aerial vehicle obstacle avoidance flight;
FIG. 2 is a schematic illustration of the forces and directions of flight of an unmanned aerial vehicle;
fig. 3 is a detailed flow chart of the unmanned aerial vehicle obstacle avoidance flight method.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, an unmanned aerial vehicle obstacle avoidance flight method includes the following steps:
step 1, calculating coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle.
Step 2, obtaining the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, coordinates of each obstacle and coordinates of a current target point of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located.
And 3, controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
The method is implemented in a controller of the unmanned aerial vehicle, all obstacle coordinates in the current induction range are obtained based on the current coordinates of the unmanned aerial vehicle and the distance from the obstacle in the current induction range, and the flight direction of the unmanned aerial vehicle is obtained by combining the current target point coordinates of the unmanned aerial vehicle, so that the unmanned aerial vehicle obstacle avoidance flight is realized based on the most comprehensive obstacle coordinates, and the obstacle avoidance path is optimal.
In order to simplify obstacle avoidance flight control, the invention divides the planned route into a plurality of sections according to unit distance and key points, wherein the end point of each route section is used as a target point, i.e. the whole route is divided into a plurality of sections for obstacle avoidance flight, and the key points are points where a tower and a point to be monitored are located.
The unmanned aerial vehicle positioning system comprises an unmanned aerial vehicle, a positioning module and an induction module, wherein the positioning module and the induction module are arranged on the unmanned aerial vehicle, the positioning module acquires the current coordinates of the unmanned aerial vehicle in real time, the induction module senses obstacles in the current induction range, acquires the distance between each obstacle unmanned aerial vehicle and the obstacle unmanned aerial vehicle, and further calculates the coordinates of each obstacle according to the distance and the current coordinates of the unmanned aerial vehicle.
In order to avoid the flight risk, some narrower paths are eliminated, in particular, when calculating the coordinates of each obstacle, if there are no other obstacles between the two obstacles and the distance is smaller than 2R s Generating new obstacle coordinates in a linear range between two obstacles, specifically generating new obstacles at all points on the linear range, so as to prevent the unmanned aerial vehicle from passing through the space between the two obstacles; wherein R is s Is the maximum circumcircle diameter of the unmanned plane body.
The unmanned aerial vehicle keeps away barrier flight mainly controls unmanned aerial vehicle's flight direction, because unmanned aerial vehicle flies to the terminal of place route section all the time to avoid the barrier in the route section, consequently can assume that the target point has gravitation to unmanned aerial vehicle, the barrier has repulsion to unmanned aerial vehicle.
The attraction function and the repulsion function can be constructed in advance, and the attraction F of the current target to the unmanned aerial vehicle can be calculated according to the preset attraction function and the current target point coordinates of the unmanned aerial vehicle a The formula of the gravitational function can be expressed as:
in U a As a function of attraction, K a Is the coefficient of gravity, X n 、X m The current coordinates of the unmanned aerial vehicle and the current target point coordinates of the unmanned aerial vehicle, ρ (X n ,X m ) Gamma is the distance between the unmanned plane and the current target point a Is an gravitation adjustment factor;
the repulsive force of each obstacle to the unmanned aerial vehicle can be calculated according to a preset repulsive force function and each obstacle coordinate, and the formula of the repulsive force function can be expressed as:
in U b As a repulsive force function, K b To repulsive force coefficient, X g For obstacle coordinates ρ (X n ,X g ) ρ is the distance between the unmanned aerial vehicle and the obstacle 0 To influence radius of obstacle ρ 0 ＝nL min N is a positive real number greater than or equal to 5,L min For the shortest distance that the unmanned aerial vehicle must fly straight before changing the flight attitude, namely the minimum step length of the unmanned aerial vehicle, gamma b The factor is adjusted for repulsive force.
The attractive force and repulsive force are obtained by calculating the negative gradients of the attractive force function and repulsive force function, respectively, as shown in FIG. 2, if the resultant force of all repulsive forces is equal to the attractive force F a Is unequal in magnitude or direction, and calculates the attractive force F a And the resultant force F of all repulsive forces 1 The formula is: f (F) 1 ＝F a +∑F b The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is b Sigma F is repulsive force of the obstacle to the unmanned aerial vehicle b For the resultant force of all repulsive forces, resultant force F 1 Is the direction of flight of the unmanned aerial vehicle.
If the resultant force of all repulsive forces and attractive force F a In order to prevent unmanned aerial vehicle from being unable to fly in original earthquake, leading in the attraction force of the next target point to the unmanned aerial vehicle, and similarly to the current target point, calculating the attraction force F of the next target to the unmanned aerial vehicle according to a preset attraction function and the coordinates of the next target point of the unmanned aerial vehicle c Calculate the attraction force F a Attraction force F c And the resultant force F of all repulsive forces 2 Will be resultant force F 2 Is used as the flying direction of the unmanned plane; wherein the resultant force F 2 The formula can be expressed as:
F 2 ＝F a +∑F b +F c
and the conditions that need to be satisfied are: pi-theta is less than or equal to epsilon 1 、|F a |-|∑F b |＝ε 2 Wherein X is w For the coordinate of the next target point, θ is the included angle between the resultant force of all repulsive forces and the attractive force of the current target point to the unmanned plane, ε 1 、ε 2 All are the minimum detection values, all are more than or equal to 0, and the epsilon is set 1 、ε 2 The smaller the accuracy of detection is to unmanned aerial vehicle shock higher.
In order to prevent the non-smoothness of the obstacle avoidance flight path, the repulsive force adjustment factor of the invention is obtained according to the distance between the unmanned aerial vehicle and each obstacle, the attractive force adjustment factor is obtained according to the distance between the unmanned aerial vehicle and each obstacle and the farthest distance between the obstacles in the obstacle group, wherein the obstacle group is a set formed by the obstacles with the x/y/z coordinates different by 1 coordinate unit, for example, the coordinates of two obstacles in the obstacle group are respectively (x i ,y i ,z i )、(x i+1 ,y i ,z i ) I.e. the x-axis coordinates differ by 1 coordinateA unit;
the specific formula is as follows:
the formula of the gravitational force adjustment factor is:
the formula of the repulsive force adjustment factor is:
wherein R is 0 Is half the furthest pitch of the obstacles in the group of obstacles.
The whole flow of the invention can be as shown in figure 3, a pre-planned route is obtained, a plurality of target points are set, the attraction and the induction obstacle are calculated in real time in the flight process of each section, if no obstacle exists, the flight is carried out according to the attraction direction, and if the obstacle exists, the flight direction is adjusted according to the resultant force of the attraction and the repulsion.
According to the unmanned aerial vehicle flight direction control method, a plurality of target points are arranged on a planning route, an attractive force function is built on the target points, a repulsive force function is built on obstacle points, and the unmanned aerial vehicle flight direction is controlled, so that the unmanned aerial vehicle can fly around the obstacle autonomously; by setting the gravitation adjustment factors and the repulsion adjustment factors, the route is smoother, and an invalid path is shortened; through the detection of the in-situ oscillation of the unmanned aerial vehicle and the provision of the attraction of the next target point, the unmanned aerial vehicle can avoid the condition that the original oscillation cannot travel to the target point.
Based on the same technical scheme, the invention also discloses an unmanned aerial vehicle obstacle avoidance flying device, which comprises:
the obstacle coordinate calculation module calculates the coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle;
the flight direction acquisition module is used for acquiring the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located;
and the obstacle avoidance flight control module is used for controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
The data processing flow of each module in the above device is consistent with the steps of the method, and the description is not repeated here.
Based on the same technical scheme, the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores one or more programs, and the one or more programs comprise instructions, which when executed by a computing device, cause the computing device to execute the unmanned aerial vehicle obstacle avoidance flight method.
Based on the same technical scheme, the invention also discloses computer equipment, which comprises one or more processors and one or more memories, wherein one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs comprise instructions for executing the unmanned aerial vehicle obstacle avoidance flight method.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as providing for the use of additional embodiments and advantages of all such modifications, equivalents, improvements and similar to the present invention are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (10)
1. An unmanned aerial vehicle obstacle avoidance flight method is characterized by comprising the following steps:
calculating the coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle;
obtaining the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located;
and controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
2. The unmanned aerial vehicle obstacle avoidance flight method of claim 1 wherein, in calculating the coordinates of each obstacle, if there are no other obstacles between the two obstacles and the distance is less than 2R s Generating new obstacle coordinates in a linear range between two obstacles; wherein R is s Is the maximum circumcircle diameter of the unmanned plane body.
3. The unmanned aerial vehicle obstacle avoidance flight method of claim 1, wherein obtaining the flight direction of the unmanned aerial vehicle according to the preset attraction function, the preset repulsion function, the coordinates of each obstacle, and the coordinates of the current target point of the unmanned aerial vehicle comprises:
according to a preset gravitation function and the current target point coordinates of the unmanned aerial vehicle, calculating the gravitation F of the current target to the unmanned aerial vehicle a ；
According to a preset repulsive force function and each obstacle coordinate, calculating repulsive force of each obstacle to the unmanned aerial vehicle;
if the resultant force of all repulsive forces and attractive force F a Is unequal in magnitude or direction, and calculates the attractive force F a And the resultant force F of all repulsive forces 1 Will be resultant force F 1 Is used as the flying direction of the unmanned plane;
if the resultant force of all repulsive forces and attractive force F a Is equal in size and opposite in direction, and calculates the attraction F of the next target to the unmanned aerial vehicle according to a preset attraction function and the coordinate of the next target point of the unmanned aerial vehicle c Calculate the attraction force F a Attraction force F c And the resultant force F of all repulsive forces 2 Will be resultant force F 2 Is the direction of flight of the unmanned aerial vehicle.
4. A method of unmanned aerial vehicle obstacle avoidance flight according to claim 1 or claim 3, wherein the formula of the gravity function is:
in U a As a function of attraction, K a Is the coefficient of gravity, X n 、X m The current coordinates of the unmanned aerial vehicle and the current target point coordinates of the unmanned aerial vehicle, ρ (X n ,X m ) Gamma is the distance between the unmanned plane and the current target point a The attraction force adjustment factor is obtained by calculation according to the distance between the unmanned aerial vehicle and each obstacle and the farthest distance between the obstacles in the obstacle group, wherein the obstacle group is a set formed by the obstacles with the x/y/z coordinates different by 1 coordinate unit.
5. The unmanned aerial vehicle obstacle avoidance flight method of claim 4 wherein the formula for the gravitational force adjustment factor is:
wherein X is g For obstacle coordinates ρ (X n ,X g ) R is the distance between the unmanned aerial vehicle and the obstacle 0 Is half of the furthest distance between the obstacles in the obstacle group, ρ 0 To influence radius of obstacle ρ 0 ＝nL min N is a positive real number, L min The shortest distance that the unmanned aerial vehicle must fly straight before changing the flight attitude is provided.
6. A method of unmanned aerial vehicle obstacle avoidance flight according to claim 1 or claim 3, wherein the formula of the repulsive force function is:
in U b As a repulsive force function, K b To repulsive force coefficient, X n 、X g The current coordinates and the obstacle coordinates of the unmanned plane, ρ (X n ,X g ) ρ is the distance between the unmanned aerial vehicle and the obstacle 0 To influence radius of obstacle ρ 0 ＝nL min N is a positive real number, L min For the shortest distance that the unmanned plane must fly straight before changing the flight attitude, gamma b And the repulsive force adjustment factor is obtained by calculation according to the distance between the unmanned aerial vehicle and each obstacle.
7. The unmanned aerial vehicle obstacle avoidance flight method of claim 6, wherein the formula of the repulsive force adjustment factor is:
8. the unmanned aerial vehicle obstacle avoidance flight method of claim 3, wherein the attractive and repulsive forces are obtained by calculating negative gradients of the attractive and repulsive functions, respectively;
resultant force F 1 The formula of (2) is: f (F) 1 ＝F a +∑F b The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is b Sigma F is repulsive force of the obstacle to the unmanned aerial vehicle b Is the resultant of all repulsive forces;
resultant force F 2 The formula of (2) is: f (F) 2 ＝F a +∑F b +F c 。
9. Unmanned aerial vehicle keeps away barrier flight device, a serial communication port, include:
the obstacle coordinate calculation module calculates the coordinates of each obstacle according to the current coordinates of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each obstacle; the obstacle is an obstacle in the current induction range of the unmanned aerial vehicle;
the flight direction acquisition module is used for acquiring the flight direction of the unmanned aerial vehicle according to a preset gravitation function, a preset repulsive force function, each obstacle coordinate and the current target point coordinate of the unmanned aerial vehicle; the planning route of the unmanned aerial vehicle is divided into a plurality of sections, and the current target point of the unmanned aerial vehicle is the end point of the route section where the unmanned aerial vehicle is currently located;
and the obstacle avoidance flight control module is used for controlling the unmanned aerial vehicle to avoid obstacle flight according to the flight direction of the unmanned aerial vehicle.
10. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of claims 1-8.
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