Unmanned aerial vehicle path planning method for reconstructing Voronoi diagram in real time

• Main Authors: GUAN JUNZHI, CHEN YONG, CHAI XINGHUA, SUN SHIYONG, CHEN TAOYI, GENG HUJUN, GAO FENG, PENG HUIXIANG, CHEN YANQIAO
• Format: Patent
• Language: Chinese; English
• Published: 09.10.2020
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The invention discloses an unmanned aerial vehicle path planning method for reconstructing a Voronoi diagram in real time, belonging to the technical field of autonomous navigation of unmanned aerialvehicles. According to the method, path planning is carried out on a plane where an unmanned aerial vehicle is located in real time by taking the current spatial position of the unmanned aerial vehicle as a starting point according to the shape and size of obstacles and the real-time flight height of the unmanned aerial vehicle in a known obstacle environment. According to the method, a two-dimensional Voronoi graph segmentation method is expanded to three dimensions, and the flight path of the unmanned aerial vehicle in the three-dimensional space is planned, so the effectiveness of a plannedpath is improved. 本发明公开了一种实时重构Voronoi图的无人机路径规划方法，属于无人机自主导航技术领域。该方法针对障碍物已知的环境，根据障碍物形状大小和无人机实时飞行高度，以当前无人机所在空间位置为出发点，实时对无人机所在平面进行路径规划。该方法将二维Voronoi图分割方法扩展到三维，规划出三维空间内的无人机飞行路径，提高了规划路径的有效性。