无人机覆盖路径规划中基于能量感知网格的三维避障算法的研究

Research on 3D Obstacle Avoidance Algorithm Based on Energy-Aware Grid in UAV Coverage Path Planning

无人机飞行过程中,路线上会出现一些障碍物,障碍物会威胁无人机的飞行安全。在无人机执行任务时,路径规划需要进行动态调整以实现快速准确地避开障碍。在对无人机避障算法进行研究中,在无人机飞行的规划路径中利用摄像机捕捉包含障碍物的视图,通过能量感知网格确定无人机移动到新的位置上,以便绕过路径中的障碍物。仿真结果显示,与利用二维避障方法相比,三维场景信息避障的无人机在节约能量和完成时间上都有所提高。

During the flight process of the UAV,some obstacles will appear on the route,and the obstacles will threaten the flight safety of the UAV.During the execution of missions of UAV,the path planning needs to be adjusted dynamically to realize obstacle avoidance quickly and accurately.In the research of UAV obstacle avoidance algorithm,the camera is used to capture the view containing obstacles in the planned path of UAV flight,and the UAV is determined to move to a new position through the energy-aware grid in order to bypass the obstacles in the path.The simulation results show that compared with using the 2D obstacle avoidance method,the UAV with 3D scene information obstacle avoidance has improved in energy saving and completion time.