Unmanned aerial vehicle path planning method and device, and storage medium

• Main Authors: ZHANG QIZENG, HU LEI, LIU FENGZENG, ZHAO BIAO, WU QINGFENG
• Format: Patent
• Language: Chinese; English
• Published: 02.07.2024
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses an unmanned aerial vehicle path planning method, and the method comprises the following steps: S1, loading map data, initializing the coordinates of a starting point node, setting an OPEN list and a CLOSED list, and adding the coordinates of the starting point node into the OPEN list; wherein the OPEN list is used for storing nodes to be explored, and the CLOSED list is used for storing explored nodes; s2, using an expansion function to generate successor nodes and calculating cost values of all the successor nodes, and if the successor nodes are in the OPEN list, updating information of the successor nodes; if the subsequent node is not in the OPEN list, adding the subsequent node to the CLOSED list, and marking a cost value; s3, acquiring a subsequent node with the lowest cost in the OPEN list, and using the subsequent node as a new current node for continuing to explore; and S4, repeating the steps S2-S3 to reach a target node, and constructing an optimal path. According to the unma