CN104596516A - Unmanned aerial vehicle coverage flight path planning based on dynamic newly-added adjacent area - Google Patents
Unmanned aerial vehicle coverage flight path planning based on dynamic newly-added adjacent area Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle coverage flight path planning method based on a dynamic newly-added adjacent area aiming at problems of unmanned aerial vehicle flight path planning in the dynamic flight path planning field. Characteristics of the dynamic added area are fully considered, that is to say, a problem of achieving flight path real-time adjustment after dynamic new addition of the adjacent area is considered. With combination of a flight path geometry planning method and a required traversing area updating problem, an optimal dynamic loop flight path method is put forward, flight path adjusting operation steps of an unmanned aerial vehicle during flight are simplified, the safety of the unmanned aerial vehicle during flight is improved, the meaningless flight of the unmanned aerial vehicle during aerial photography is reduced, a traditional unpractical flight path planning method is abandoned, and aircraft power and other conditions in the actual flight are fully considered. The method mainly includes the following four aspects: acquisition of an unmanned aerial vehicle real-time position, merging of an original non-traversing area and the dynamic newly-added area, calculation of polygon minimum fly-past, and flight path design planning. The method achieves the dynamic newly-added adjacent area flight path planning, and has a broad prospect in aerial photography area temporary adjustment.
Description
Technical field
The present invention relates to a kind of unmanned plane to take photo by plane the dynamic route planning technology in field, relate in particular to a kind of unmanned plane based on dynamic newly-increased contiguous zone and cover path planning method.
Background technology
In the last few years, unmanned plane had had significant progress in practical application, had played the various features of unmanned plane self, comprise can control, portable, low cost, low-loss, can reuse, the little and application of risk is wide etc.The development being combined into unmanned air vehicle technique of unmanned plane and remote sensing technology is filled with again new power, makes unmanned plane towards robotization more, more intelligentized future development, makes again unmanned aerial vehicle remote sensing be provided with the features such as high timeliness, high resolving power simultaneously.Therefore the application of unmanned plane expands further, comprises the military aspect such as civilian, if military military surveillance, early warning and civilian resources observation, environmental monitoring, meteorological watch and process unexpected incidents are as earthquake, big flood, landslide etc.Owing to being subject to the restriction such as load, power, continuation of the journey of unmanned plane, people are made to start to pay close attention to the technology of unmanned aerial vehicle flight path planning aspect, in order to shorten voyage.
Along with the widespread use of unmanned plane, a large amount of unmanned plane planning algorithms occurs in succession, and specifically can be divided into two large classes, a class is traditional classic algorithm: mathematical induction, dynamic extrapolation method, method in optimal control, correlation method reciprocal.But traditional Path Planning also exists distinct issues, be namely easily absorbed in locally optimal solution, calculated amount large, plan length consuming time, lack intelligent search function, the fast reserve of this and unmanned plane is runed counter to.Another kind of algorithm is also that in the planning of current unmanned aerial vehicle flight path, conventional algorithm mainly comprises: A-star algorithm, genetic algorithm, artificial neural network algorithm, ant group algorithm and simulated annealing etc.Its advantage is that dirigibility is strong, can threaten situation by strain burst, the modified that present a lot of researchs are carried out based on these algorithms especially and mixed type, but these algorithms all also exist the different defects such as the long or calculated amount of planning time is large.Substantially all can there is the features such as the long or calculated amount of planning time is large in above algorithm, therefore cannot realize meeting the dynamic real-time that unmanned plane covers trajectory planning.If add new region when unmanned plane during flying, unmanned plane cannot adjust flight path immediately, and this brings inconvenience just to the adjustment of the flight path of unmanned plane.
And in actual applications, especially when taking photo by plane acquisition object region picture concerned data, these methods all present different limitation.Because in actual unmanned plane during flying is taken photo by plane, unmanned plane should be kept to carry out flight shooting according to the course line of planning and to guarantee region-wide ordered cover, and keep that unmanned plane during flying height is constant has identical attribute with the photo obtained that makes to take photo by plane, so just can carry out later stage effective image mosaic, and compared to other application aspect, pop-up threats is uncommon in civilian, do not need to consider to threaten the situations such as district, so just need actual flight course planning method in actual unmanned plane during flying, investigation region of taking photo by plane being carried out to system before unmanned plane during flying will be accomplished.
In resources observation, environmental monitoring, satellite monitoring and manned aircraft carry out taking photo by plane and all expose different shortcomings, and unmanned plane has then embodied the features such as maneuverability is strong, real-time, low cost, low-loss in this respect.But in most of the cases, unmanned plane cannot change flight path awing in time, so this is just for the flight path adjustment of unmanned plane behind interim Adding Area is made troubles.Even if some unmanned plane can realize the dynamic conditioning of the flight path of unmanned plane, but its flight path is also only the simple covering to target area, and non-optimal.
Summary of the invention
Unmanned plane in the present invention covers flight path dynamic programming method can effective gram of above-mentioned defect, propose a kind of unmanned plane based on dynamically increasing contiguous zone newly and cover path planning method, under the prerequisite of unmanned plane without the need to landing, region can not traveled through for dynamic newly-increased region and residue and cook up a shortest path in real time, the optimum winding line of flight of lowest power consumption.
For realizing said method, present invention employs following concrete path planning method, it comprises the following steps:
(1) real time position of unmanned plane is obtained.
(2) determine according to the position of unmanned plane the starting point that original plan next stage flies along minimum span corresponding sides.
(3) original plan flight range is divided into flies region and do not travel through region, becoming new region not traveling through region with newly-increased region merging technique.
(4) determine the shape of its profile according to new region, obtain the polygon of profile, calculate its minimum span.
(5) flying height is calculated according to new region topographic features.
(6) number of turns, polygon minimum span, unmanned plane current location, landing place is considered to calculate airline distance minimum value to obtain optimum winding course line.
(7) be transferred on unmanned plane by the Ship's Optimum Route of planning, unmanned plane is according to the flight path adjustment flight path obtained.
Due to be about dynamic Adding Area after the adjustment of whole region overlay trajectory planning, so the real-time of trajectory planning will be fully taken into account, the Ship's Optimum Route of unmanned plane to be calculated exactly according to Adding Area, remaining area, unmanned plane real time position, level point rapidly, be then uploaded to unmanned plane to adjust course line in time.So the dynamic optimal in unmanned plane course line is planned after the present invention be directed to Adding Area.
In described step (1), obtaining the current location of unmanned plane, is fly region and obtain remaining to be deducted by overall area and do not fly region.Wherein, the accurate location obtaining unmanned plane is crucial.
In described step (2), be not adjust immediately determining to add the flight path of unmanned plane after new region, but flying the laggard Row sum-equal matrix of turning path of remaining straight line path and and then straight line path.
In described step (3), generate new trajectory planning need by newly-increased region be not traversed region and merge, be therefore crucial by flying region with not being traversed region disconnecting.Directly can't be separated behind acquisition unmanned plane position and not be traversed region, also need, according to the starting point of unmanned plane position calculation original plan its rectilinear flight of next stage, then to determine not to be traversed region.
In described step (4), calculate the definition that first polygon minimum span wants clear and definite polygon minimum span, because polygon has concavo-convex dividing, but concave polygon can be cut again and is divided into several convex polygons, so the present invention mainly considers the situation of comparatively common convex polygon.First the span of convex polygon and the definition of width is provided:
Calculate the distance between polygonal certain limit and all summits except this limit upper extreme point in the plane, in these distances, maximal value is just defined as the span that in convex polygon, this limit is corresponding
.Then span corresponding on other limits is calculated successively.Minimum value in all spans is just called minimum span and the width of convex polygon
.The method is defined as " some limit formula ", it can thus be appreciated that a convex polygon can have several spans, but only has a width.
When calculating polygon span, utilize some limit formula, obtain the span on each limit successively
, in all polygonal spans, select wherein minimum span
i.e. polygonal width for this reason, and remember that minimum span corresponding sides are
.
In described step (5), according to the flying height of the height above sea level determination unmanned plane of landform, to guarantee the quality of Aerial Images.
In described step (6), the common course line that widely used before having abandoned of the method selected in the present invention planning mode from the close-by examples to those far off and have chosen another kind of course line and draw near and travel through the method in coverage goal region successively.
In described step (7), the flight path of new region will be transferred to unmanned plane to realize the adjustment of unmanned aerial vehicle flight path by land station.
In conjunction with unmanned plane position, new region polygon minimum span, minimum number of turns, devise optimum course line, level point.Unmanned plane starts new track flight fly to ensuing turning after receiving new course line after, there are two kinds of situations: the position at (1) unmanned plane place is just the end points of minimum span corresponding sides, now unmanned plane travels through whole target area along the direction being parallel to corresponding sides, but makes a return voyage and a little should be selected in nearer position, distance level point.(2) if unmanned plane is not when minimum span corresponding sides, then fly to nearest minimum span corresponding sides end points from original position, and then take winding mode to travel through the whole target area of flight covering.
The beneficial effect of the invention is: consider that the landing of unmanned plane is a complicated process, if new region is increased awing interim, the new flight path of unmanned plane landing input is generally needed again to take off again, this method overcomes above deficiency, simplify operation steps, achieve the dynamic programming of unmanned aerial vehicle flight path.
Accompanying drawing explanation
Fig. 1 is current generally unmanned aerial vehicle flight path planing method schematic diagram from the close-by examples to those far off.
Fig. 2 is the unmanned aerial vehicle flight path planing method schematic diagram from the close-by examples to those far off that the present invention proposes.
Fig. 3 covers path planning method schematic diagram based on the unmanned plane dynamically increasing contiguous zone newly.
Embodiment
The unmanned plane of dynamically newly-increased contiguous zone of the present invention covers path planning method, comprises the following steps:
(1) real time position of unmanned plane is obtained.
(2) determine next time along the starting point of minimum span corresponding sides flight according to the position of unmanned plane.
(3) straight line l is made through above-mentioned starting point
1be parallel to minimum span corresponding sides, remake straight line l
2be parallel to straight line l
1, l
2to l
1distance be the half of flight path spacing, and l
2at l
1and between the track line that upper straight line flies, with straight line l
2fly region for separatrix handle original plan flight range is divided into and does not travel through region.
(4) determine the shape of its profile according to formation zone, obtain the polygon of profile, calculate its minimum span.
(5) flying height is calculated according to formation zone topographic features.
(6) number of turns, polygon minimum span, unmanned plane current location, landing place is considered to calculate airline distance minimum value to obtain optimum winding course line.
(7) be transferred on unmanned plane by the Ship's Optimum Route of generation, unmanned plane is according to the flight path adjustment flight path obtained.
one,the renewal in unmanned plane traversal region
Because unmanned plane is in constantly motion, so its position is in continuous change, so the region be not traversed is in continuous change.After adding new region, need the needs by the region of interpolation and the region be not traversed are spliced into cover the region traveled through, key is the extraction not being traversed region.New trajectory planning is carrying out on the basis of original flight path, original flight path is generally that the rectilinear flight being parallel to minimum span corresponding sides adds turning flight, having traveled through region with not traveling through area limit line is exactly certain track line being parallel to minimum span corresponding sides, and this track line will be determined exactly in the position obtaining unmanned plane.After knowing unmanned plane position, just can determine next place of turning and then the starting point determining rectilinear flight next time, the bisector between the rectilinear flight and the rectilinear flight track line before turning of above-mentioned starting point is exactly boundary to be determined.Just can determine the shape not traveling through region after defining boundaries, then add the covering traversal region needed for newly-increased region merging technique one-tenth.
two,the energy consumption analysis in course line in target area
When analyzing, usually unmanned plane is regarded as a particle, unmanned plane carries out the flight of unduplicated traversal to target area, traversal adopts the mode of scanning, unmanned plane is along rectilinear flight, the scanning area (scanning area of sensor is generally rectangle or square) of sensor runs into border rear steering and then along opposite direction rectilinear flight, so repeatedly until whole region is capped.So the energy consumption problem of unmanned plane is just summarized as two aspects: one is total airline distance, two is turning course line distances.In general, unmanned plane rectilinear flight flies at a constant speed, and when calm, motor power is constant; Must there is the change of motor power in unmanned plane turning process, and the thrust of turning process engine is greater than rectilinear flight process, this just will certainly have an impact to unmanned plane energy consumption.
three,calculate minimum span and width
After generating new region, need it abstract in convex polygon is so that mathematical computations, if concave polygon, be then divided into convex polygon.When calculating convex polygon span, utilize point to the range formula of straight line, obtain the span on each limit successively
, in the span of all convex polygons, select wherein minimum span
the i.e. width of convex polygon for this reason.Note minimum span corresponding sides are
.Calculate minimum span algorithm letter row as follows:
First, determine the coordinate on each summit of convex polygon, be designated as respectively in the direction of the clock:
, wherein
for the summit quantity of convex polygon,
for same summit.Wherein summit
coordinate be set to
, and have
.
Secondly, program is input as: each apex coordinate; Output is: the width of convex polygon
, and corresponding summit
corresponding sides
.
Then based on above description, the specific algorithm step that minimum span (width) calculates is as follows:
Step 1: initialize
,
, circulation has two-layer, and ground floor is the distance of same end points to different edge, and the second layer is the span in different edge.
Step 2: circulation.If
and
(distance namely on limit between two end points to this straight line is zero, without the need to calculating), then summit
with limit
between distance square be:
Step 3: if
(ground floor circulation terminates) then jumps to step 4; Otherwise assignment
, again jump to step 2 and calculate.
Step 4; Find out each summit of polygon to limit
on the maximal value of square distance
, this value and limit
the span of upper correspondence square, and find out the sequence number on the summit of its correspondence
.
Step 5: if
(second layer circulation terminates) then jumps to step 6, otherwise assignment
,
, again jump to step 2 and calculate.
Step 6: find out the span square that all limits are corresponding
in minimum value and evolution can obtain the width of this convex polygon
, now also can obtain corresponding summit and side information
.
Because unmanned plane turning process is poor efficiency and high energy consumption for unmanned plane during flying, thus actual carry out unmanned plane cover trajectory planning time, number of turns to be reduced as far as possible.In order to reduce number of turns to the full extent, then require that the course line of planning is for being parallel to minimum span corresponding sides
some course lines.
Four, unmanned plane covers trajectory planning four
If the area of polygonal region to be taken photo by plane is
, total distance that unmanned plane covers course line is
, this total distance comprises the rectilinear path of target area
and turning flight path
.So total distance
.When the area of target area
fixing and sweep length and track spacing
after fixing, the rectilinear path in target area
also just determine, so total course line distance
just only depend on
.
determined by the number of times of turning again, thus number of turns number just determine the length of the total distance in course line, number of turns
, wherein
for number "
" the operational symbol that rounds up.Want
minimum, then span
this polygonal width should be got
, so number of turns
.
In practical flight, no matter be the persistent problem that oil consumption unmanned plane or electric power unmanned plane all need to consider its power, especially battery-driven unmanned plane.When initial navigation because battery power is sufficient, therefore the motor power of unmanned plane is enough stable, but along with the continuous consumption of battery power, the stability of its thrust also can little by little decline.Generally always take off from manipulation hand viewing area during unmanned aerial vehicle flight path planning and from the close-by examples to those far off perform task of taking photo by plane, this will cause a problem: the end of executing the task at unmanned plane, the electricity approach exhaustion of battery, now unmanned plane distance manipulation hand is also far away, outside the visual line of sight even having arrived manipulation hand, this just brings hidden danger to the safe flight of unmanned plane.If run into unpredictable emergency situations, when self-navigation as unmanned plane is broken down, need to carry out manual operation, can't see unmanned plane due to manipulation hand and vision cannot be relied on to obtain the relevant state of flight information of unmanned plane, this will cause the loss that cannot retrieve.So consider the existence of this hidden danger, the common course line planning mode from the close-by examples to those far off that the present invention has widely used before having abandoned, as Fig. 1 (it should be noted that the constraint due to unmanned plane performance, unmanned plane angle of turn must be greater than or equal to the angle of 90 °, so just there is return route as shown in the figure), have chosen one mode more reliably, course line draws near and travels through coverage goal region successively as Fig. 2.Two figure contrast the number of turns of the no more than Fig. 1 of number of turns needed for known Fig. 2 flight course planning mode, and the traversal that can complete full target area covers.Difference is just that the airline operation of Fig. 2 first arrives at farthest, region then to start from most remote areas to manipulation hand also i.e. takeoff point flight, in the process weakened gradually at power like this, unmanned plane also can progress within the viewing area scope of manipulation hand, in case of the special circumstances such as unmanned plane is short of power can process in time, avoid unnecessary loss to the full extent, compared to the more protective security of the airline operation in Fig. 1.And the scanning not considering to region in the process of making a return voyage in Fig. 1, be equivalent to add meaningless voyage, it is more comprehensive that Fig. 2 then considers.
Five, embodiment
First, by analyzing above, first to area to be planned polygon be positioned in coordinate system, read the coordinate on each summit, calculate minimum span according to polygon minimum span computing method.Determine the summit that minimum span is corresponding and limit:
.As Fig. 3, its dot-dashed line is
(region that in figure, real segment and pecked line surround is target area, and line segment dotted line is the line of flight).
In this concrete enforcement sample, application square grid method sets up the model in region to be covered, if include part region to be covered in a grid cell, then thinks that this grid cell needs to cover; Normal turn process is chosen in the turning of unmanned plane; Coverage mode chooses sweep trace mode, and sweep length and track spacing are
, the length breadth ratio of shot region is assumed to 1:1, and namely the sweep length of shot region and length are
.The covering trajectory planning result in the associated polygon region finally obtained is as Fig. 3.
Claims (4)
1. one kind covers path planning method based on the unmanned plane dynamically increasing contiguous zone newly, it is characterized in that, the dynamic realtime of flight path upgrades, the method mainly comprises the acquisition of unmanned plane real time position, original region that do not travel through increases the merging in region, four flow processs such as calculating, flight-line design planning of polygon minimum span newly with dynamic, wherein:
(1) acquisition of unmanned plane real time position, is mainly left not travel through region to determine, for next step and the merging dynamically increasing region newly are prepared;
(2) real-time update in unmanned plane traversal region;
(3) polygon minimum span calculates, and specifies minimum span and defines and calculate the polygonal minimum span and width chosen;
(4) complete the planning of flight path and uploaded to unmanned plane.
2. as requested described in 1, cover path planning method based on dynamic newly-increased contiguous zone unmanned plane, it is characterized in that: the real time position obtaining unmanned plane in described step (1), determine remainingly not travel through region, unmanned plane will continue along Reciprocal course flight until nextly to turn.
3. covering path planning method based on dynamic newly-increased contiguous zone unmanned plane as requested described in 1, it is characterized in that: in described step (2), generating by residue not being traveled through region and newly-increased region merging technique the map that new needs travel through in real time.
4. as requested described in 1, cover path planning method based on dynamic newly-increased contiguous zone unmanned plane, it is characterized in that: the complex situations in described step (4) consider the winding formula course line traversal method that namely proposes a kind of novel " drawing near " in conjunction with actual and in conjunction with polygon minimum span, takeoff point is to polygon minor increment and energy consumption analysis three kinds of actual conditions devise optimum winding course lines, after generation flight path, uploaded in real time on unmanned plane by wireless communication system.
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