基于滚动速度障碍法的无人机山地航测避障路径规划研究

Research on obstacle avoidance path planning for unmanned aerial vehicle aerial survey in mountainous areas based on rolling speed obstacle method

摘要:

无人机在进行山地航测时,经常遭遇鸟类等动态障碍,若不能及时规避掉障碍,极容易发生坠机事故。为此,研究一种基于滚动速度障碍法的无人机山地航测避障路径规划方法。基于山地环境模型,结合飞行路径长度、路径平滑度建立一个综合目标函数并利用改进布谷鸟搜索算法求解,得到无人机山地航测的初始路径。对图像进行预处理后,识别无人机初始路径飞行过程中遇到的障碍物,并通过超声波测量无人机与障碍物之间的距离,以此建立速度障碍模型,实现速度障碍碰撞分析,通过滚动窗口的方式确定无人机与障碍物是否存在飞行冲突。基于滚动速度障碍避障方法实现滚动角度避障和速度避障,获取最终的优化路径,完成基于滚动速度障碍法的无人机山地航测避障路径规划。测试结果表明:航测避障路径长度为571.45m,平滑度为165.52,规划的方案更具合理性。

Abstract:

When conducting aerial surveys in mountainous areas, drones often encounter dynamic obstacles such as birds. If the obstacles cannot be avoided in a timely manner, it is highly likely to cause a crash. To this end, a rolling speed obstacle based obstacle avoidance path planning method for unmanned aerial vehicle aerial survey in mountainous areas is studied. Based on the mountain environment model, combined with the flight path length and path smoothness, a comprehensive objective function is established and solved by the improved Cuckoo search to obtain the initial path of UAV mountain aerial survey. After preprocessing the image, identify the obstacles encountered during the initial path of the drone during flight, and measure the distance between the drone and the obstacles using ultrasound to establish a velocity obstacle model, achieve velocity obstacle collision analysis, and determine whether there is flight conflict between the drone and the obstacles through rolling windows. Based on the rolling speed obstacle avoidance method, achieve rolling angle obstacle avoidance and speed obstacle avoidance, obtain the final optimized path, and complete the unmanned aerial vehicle mountain aerial survey obstacle avoidance path planning based on the rolling speed obstacle method. The test results indicate that the length of the obstacle avoidance path for aerial surveys is 571.45m, and the smoothness is 165.52, making the planned plan more reasonable.