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WO2022127737A1 - Procédé et appareil de planification de trajectoire, planificateur de trjectoire, véhicule aérien sans pilote, et support de stockage - Google Patents

Procédé et appareil de planification de trajectoire, planificateur de trjectoire, véhicule aérien sans pilote, et support de stockage Download PDF

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Publication number
WO2022127737A1
WO2022127737A1 PCT/CN2021/137486 CN2021137486W WO2022127737A1 WO 2022127737 A1 WO2022127737 A1 WO 2022127737A1 CN 2021137486 W CN2021137486 W CN 2021137486W WO 2022127737 A1 WO2022127737 A1 WO 2022127737A1
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trajectory
point
points
preset length
global
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Chinese (zh)
Inventor
陈曾鸿
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Definitions

  • Embodiments of the present invention relate to the field of UAV path planning, and in particular, to a trajectory planning method, device, trajectory planner, UAV and storage medium.
  • drones In recent years, with the popularity of unmanned technology, drones have gradually been used in various fields. Among them, drones can be applied to various operations such as patrol inspection and spraying of route points. During the operation of the UAV, the path planning needs to be carried out in advance to obtain the path trajectory.
  • Embodiments of the present invention provide a trajectory planning method, a device, a trajectory planner, an unmanned aerial vehicle, and a storage medium, which can accurately avoid obstacles when encountering obstacles, ensure the safety of the unmanned aerial vehicle, and improve operation efficiency.
  • an embodiment of the present invention provides a trajectory planning method, including:
  • an embodiment of the present invention further provides a trajectory planning device, including:
  • the global trajectory point determination module is used to determine the global trajectory point of the operation route
  • the starting point determination module is used for taking the starting point of the global trajectory point as the starting point of the first preset length
  • the local trajectory generation module is used for screening the trajectory points covered by the first preset length in the global trajectory points, determining the local trajectory points based on the screened trajectory points, and generating the local trajectory based on the local trajectory points;
  • the control/return module is used to control the UAV to move the distance of the second preset length based on the local trajectory, take the next trajectory point of the current position of the UAV as the starting point of the first preset length, and return to filter in the global trajectory points
  • the step of the track points covered by the first preset length is until the global track point screening is completed, wherein the first preset length is greater than the second preset length.
  • an embodiment of the present invention provides a trajectory planner, including: the trajectory planning apparatus provided by the embodiment of the present invention.
  • an embodiment of the present invention provides an unmanned aerial vehicle, including the trajectory planner provided by the embodiment of the present invention.
  • an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the trajectory planning method provided by the embodiment of the present invention is provided.
  • an embodiment of the present invention provides an unmanned aerial vehicle, including: a processor; and a memory for storing instructions executable by the processor, where the processor is configured to execute the trajectory planning method provided by the embodiment of the present invention.
  • the starting point of the global trajectory point is used as the starting point of the first preset length, and the trajectory points covered by the first preset length are selected from the global trajectory points, Determine the local trajectory point based on the screened trajectory points, generate a local trajectory, control the UAV to move the second preset length based on the local trajectory, take the next trajectory point of the current position of the UAV as the starting point of the first preset length, and return to The operation of screening the trajectory points covered by the first preset length in the global trajectory points until the global trajectory point selection is completed; wherein, the second preset length is smaller than the first preset length.
  • the local trajectory is generated by the first preset length
  • the UAV is controlled to move the second preset distance based on the local trajectory
  • the local trajectory is regenerated based on the first preset length, so that in the case of encountering obstacles, it can be carried out in time.
  • Obstacle avoidance processing to achieve precise obstacle avoidance and ensure the safety of UAVs.
  • 1a is a flowchart of a trajectory planning method provided by an embodiment of the present invention.
  • Figure 1b is a schematic diagram of a round-trip operation route
  • Figure 1c is a schematic diagram of the operation route in the form of a curve
  • 1d is a schematic diagram of a working route provided by an embodiment of the present invention.
  • Figure 1e is a schematic diagram of the route point speed calculation
  • Figure 1f is a schematic diagram of the global trajectory point
  • 1g is a schematic diagram of screening of local trajectory points in the case where there are no obstacles on the trajectory formed by the trajectory points covered by the first preset length according to an embodiment of the present invention
  • 1h is a schematic diagram of screening of local trajectory points in the case where there are no obstacles on the trajectory formed by the trajectory points covered by the first preset length according to an embodiment of the present invention
  • FIG. 2a is a flowchart of a trajectory planning method provided by another embodiment of the present invention.
  • Fig. 2b shows that there is an obstacle on the trajectory formed by the trajectory points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is greater than the first preset distance used for obstacle avoidance.
  • 3a is a flowchart of a trajectory planning method provided by another embodiment of the present invention.
  • Fig. 3b shows that there is an obstacle on the trajectory formed by the trajectory points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance used for obstacle avoidance, the local A schematic diagram of the trajectory point screening causing the UAV to fail to return to the original trajectory point;
  • Fig. 3c shows that there is an obstacle on the trajectory formed by the trajectory points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance for obstacle avoidance, the local Schematic diagram of trajectory point screening;
  • FIG. 4 is a structural block diagram of a trajectory planning device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a trajectory planner provided by an embodiment of the present invention.
  • FIG. 6 shows a block diagram of an unmanned aerial vehicle for executing a trajectory planning method provided by an exemplary embodiment of the present application.
  • Fig. 1a is a flowchart of a trajectory planning method provided by an embodiment of the present invention.
  • the method can be executed by a trajectory planning device, and the device can be implemented by software and/or hardware.
  • the device can be configured in trajectory planning In the UAV, the trajectory planner can be configured on the UAV.
  • the drone may be a plant protection drone, a surveying and mapping drone, an unmanned vehicle, or an unmanned boat.
  • the method provided by the embodiment of the present invention may be applied to a drone operation scenario.
  • the technical solution provided by the embodiment of the present invention includes:
  • global trajectory planning can be performed first, a global trajectory including all route points can be planned, and the position and speed of the UAV at each moment can be preliminarily determined. Then, local trajectory planning is carried out.
  • the trajectory planner uses the planned global trajectory as the basis, and combines the obstacle information obtained by the sensor to perform small-scale and small-scale trajectory planning.
  • the operation route may be a flight route of an aircraft, or a travel route of a vehicle or a ship.
  • the operation route may be composed of several route points, and the drone needs to pass through these route points during the operation.
  • the route point may include position information and speed information, etc., wherein, the speed of the route point may be understood as the speed of the drone at the route point.
  • the speed of the route point may be understood as the speed of the drone at the route point.
  • the trajectory planner can obtain all the data of the operation route in advance, including the number of route points, the Coordinates, the maximum speed of each route point, etc., the trajectory planner can perform global trajectory planning based on the data of the operation route, obstacle maps, etc.
  • the obstacle map can record geographically inaccessible areas and obstacles for drones.
  • the operation route formed by the route points may be a round-trip operation route as shown in FIG. 1b, and may also be in the form of a curve as shown in FIG. 1c.
  • the form of the work route is not limited to the above-mentioned form, and may be a form of a 3D work route with a high degree of variation.
  • the schematic diagram of the operation route can be referred to Fig. 1d, and the horizontal flight of the drone is taken as an example.
  • the total time T of , in the interval t ⁇ (0, T) the position and speed of the UAV need to be determined at each moment.
  • speed distribution speed distribution at each moment
  • the speed of the UAV when passing through each route point is set to 0 m/s. Therefore, the drone needs to stop at each route point and then depart to the next route point, which affects the efficiency of the operation.
  • the speed of the drone when passing the route point can be restricted from being 0, so that the movement of the drone is more coherent, and the global trajectory point is finally determined.
  • determining the global trajectory points of the operation route includes: determining the maximum speed allowed for each route point based on the constraint conditions of the route points in the operation route, and using the maximum speed as the corresponding The speed of the route point; based on the speed and position of each two adjacent route points, determine the position and speed at any time in the road segment between each two adjacent route points, and sample the location of each road segment to obtain the global trajectory point.
  • determining the maximum allowable speed of each route point based on the constraints of the route points in the operation route includes: determining the maximum speed among the speeds satisfying the following conditions as the maximum speed (the speed of the route points satisfies the following conditions):
  • the speed at each route point is less than or equal to the maximum speed allowed for the job
  • the speed of the first route point and the last route point is 0;
  • the speed of a route point it can decelerate to the next route point with the maximum acceleration allowed by the drone, or accelerate to the next route point with the maximum acceleration allowed by the drone;
  • the forward speed of the waypoint is determined based on the size of the corner.
  • the speed of the route point is constrained by the above constraint conditions, and the maximum value of the speeds satisfying the above constraint conditions is taken as the speed of the route point, which can improve the work efficiency.
  • the forward speed of the route point is determined based on the size of the turning angle, including: determining the forward speed of the route point based on the following formula:
  • vx is the forward speed of the UAV
  • ⁇ is the size of the turning angle
  • a 0 is the acceleration of the UAV
  • d is the distance from the route point when the UAV decelerates.
  • the angle formed by the front and rear sections is the angle of ⁇ , that is, the size of the rotation angle is ⁇ .
  • the drone flies along the left side of the angle, and the speed can be decomposed into the vertical speed of v x and v y .
  • v y should decrease to zero, while v x remains constant throughout the drone's flight to and away from the vertex.
  • the drone starts to decelerate when it is a distance d from the vertex, and then accelerates after passing the vertex. Since the velocity v y in the y direction at the vertex is 0, then the velocity v x in the x direction is the velocity allowed to pass through the vertex. It should be noted that the trajectory of the whole process is actually a parabola instead of the trajectory shown in Figure 1e, but it can be considered as the trajectory shown in Figure 1e when d is small.
  • vx can be obtained by the following formula:
  • the straight-line trajectory planning can be performed on the road segment between every two adjacent route points by the method of trapezoidal speed distribution or the Double S speed distributor. That is, for the road segment formed by two adjacent route points, through the position and speed of the two route points, the time required to fly the road segment can be calculated, so that the position and speed of the UAV at any time in the road segment can be calculated, The position of the UAV is sampled according to the time interval T s , and the global trajectory point is obtained.
  • the schematic diagram of the global trajectory point can refer to Fig.
  • the global trajectory point includes the position, speed and corresponding time information of each trajectory point.
  • the time interval corresponding to each trajectory point is T s , therefore, the trajectory points with short distances before and after indicate low velocity, and the trajectory points with large distance indicate high velocity.
  • the UAV starts to accelerate from the starting point in the lower left corner. At the beginning, the trajectory points are relatively dense and the speed is small. When it reaches the middle of the first road segment, the trajectory points are relatively sparse and the speed is large; then the UAV decelerates. Reach the top, accelerate again after passing the top, slow down when it reaches the bottom right end point, and finally stop.
  • a global trajectory may be planned based on the position information of the route points in the operation route and the information in the obstacle map, and the position sampling of the global trajectory may be performed to obtain the global trajectory points.
  • the manner of determining the global trajectory point is not limited to the above manner, and may also be other manners.
  • S120 Use the starting point of the global trajectory point as the starting point of the first preset length.
  • a collision-free and smooth local trajectory can be planned by using global trajectory points.
  • the starting point of the global trajectory point may be used as the starting point of the first preset length.
  • the starting point of the global trajectory point may be the first trajectory point at the beginning of the global trajectory point.
  • the first preset length may be set according to actual conditions.
  • S130 Screen the track points covered by the first preset length from the global track points, determine local track points based on the screened track points, and generate a local track based on the local track points.
  • the trajectory points covered by the first preset length may include, in the global trajectory, the trajectory points corresponding to the starting point of the first preset length, and the trajectory points located after the starting point of the first preset length and being the same as the first preset length.
  • the distance between the starting points of a preset length is less than or equal to the trajectory points of the first preset length.
  • the trajectory points covered by the first preset length in the case where there is no obstacle on the trajectory formed by the trajectory points covered by the first preset length, that is, in the case where there is no obstacle within the distance range covered by the first preset length , the trajectory points covered by the first preset length can be used as local trajectory points, and the local trajectory can be generated based on the local trajectory points.
  • the obstacle avoidance trajectory point can be determined based on the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and use
  • the obstacle track point replaces the track point in the corresponding global track point, and the unreplaced track point and the obstacle avoidance track point among the track points covered by the first preset length are used as the local track point.
  • the obstacle information includes the size and position information of the obstacle, and the obstacle information can be determined by the sensor data on the UAV.
  • the first preset distance and the second preset distance may be preset, or may also be determined according to the current speed of the drone.
  • a third preset length can be added on the basis of the first preset length to obtain a fourth preset length, and the end point of the fourth preset length is the same as The distance of the obstacle is greater than the first preset distance.
  • the obstacle avoidance trajectory point is determined according to the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and the obstacle avoidance trajectory point is used to replace the trajectory point in the corresponding global trajectory point; Unreplaced track points and obstacle avoidance track points in the track points covered by the length are used as local track points, and a local track is generated.
  • the content of this part can refer to the introduction of the following embodiments.
  • S140 Control the drone to move a distance of a second preset length based on the local trajectory.
  • controlling the UAV to move a distance of a second preset length based on the local trajectory includes: determining a control amount of the UAV based on the local trajectory; controlling the UAV along the local trajectory based on the control amount Move a distance of a second preset length.
  • the control amount may include information such as acceleration and flight angle.
  • the independent variable of the local trajectory can be time, the velocity at any time can be determined based on the local trajectory, and the acceleration and flight angle can be calculated based on the velocity at any two adjacent moments.
  • the local trajectory is determined, the control amount is determined based on the local trajectory, and the UAV is controlled to move along the local trajectory based on the control amount. Longer global trajectories are processed each time, reducing data processing.
  • the second preset length is less than the first preset length.
  • the second preset length may be less than half of the first preset length.
  • the first preset length and the first preset length Two preset lengths can be set as needed.
  • S160 Control the drone to continue to move along the local trajectory to the last trajectory point.
  • S170 Take the next trajectory point of the current position of the drone as the starting point of the first preset length, and return to S130.
  • the global track point is screened, and the drone can be controlled to move to the last track point along the last generated local track. If the global trajectory point has not been screened, the next trajectory point of the current position of the drone is used as the starting point of the first preset length, and the process returns to S130.
  • the trajectory points in Figure 1g are global trajectory points, and " ⁇ " represents the position of the UAV.
  • L min_for_execution is the first preset length, that is, the length of the generated local trajectory
  • L replan is the second preset length. Set the length, that is, after flying the distance of the second preset length, the local trajectory will be regenerated.
  • the UAV is at the starting point of the global trajectory point. In order to generate a local trajectory, it is necessary to filter the trajectory in the global trajectory point.
  • the length of the line connecting the selected trajectory points is determined by L min_for_execution . Among them, the larger L min_for_execution is, the more trajectory points are screened.
  • the local trajectory is generated based on the selected trajectory points, and the control quantity is determined based on the local trajectory. After the UAV moves the distance L replan along the local trajectory based on the control quantity, the local planning needs to be re-planned.
  • the screening starts from the next trajectory point in front of the current position of the UAV, and the length of the line connecting the selected trajectory points satisfies the L min_for_execution After the length, the local trajectory and the control amount are generated again. After controlling the UAV to move the distance L replan along the local trajectory based on the control amount, it returns to the next trajectory point in front of the current position of the UAV to start screening until the global trajectory point is screened.
  • the local trajectory points are determined based on the screened trajectory points, and the method for generating the local trajectory can refer to the introduction of the following embodiments.
  • the drone in the process of performing operations according to the operation route, the drone needs to stop and then fly to the next route point when it reaches a route point.
  • frequent braking will affect the operation efficiency.
  • the maximum speed allowed for each route point is determined based on the constraint conditions of the route points in the operation route, and the maximum speed is used as the speed of the corresponding route point;
  • speed matching is performed on the road segments between each two adjacent route points, and the position of each road segment is sampled based on the assigned speed to obtain global trajectory points.
  • Local planning can be carried out at the point, so as to avoid the frequent braking of the drone and improve the operation efficiency.
  • the starting point of the global trajectory point is used as the starting point of the first preset length, and the trajectory points covered by the first preset length are selected from the global trajectory points, Determine the local trajectory point based on the screened trajectory points, generate a local trajectory, control the UAV to move the second preset length based on the local trajectory, take the next trajectory point of the current position of the UAV as the starting point of the first preset length, and return to The operation of screening the trajectory points covered by the first preset length in the global trajectory points until the global trajectory point selection is completed; wherein, the second preset length is smaller than the first preset length.
  • the local trajectory is generated by the first preset length
  • the UAV is controlled to move the second preset distance based on the local trajectory
  • the local trajectory is regenerated based on the first preset length.
  • obstacle handling to achieve precise obstacle avoidance and ensure the safety of UAVs.
  • determining a local trajectory point based on the screened trajectory points includes: if the trajectory points covered by the first preset length form There is an obstacle on the trajectory of , and the distance between the obstacle and the end point of the first preset length is greater than the first preset distance for obstacle avoidance, based on the first preset distance, the second preset distance for obstacle avoidance and The obstacle avoidance trajectory point is determined by the information of the obstacle, and the obstacle avoidance trajectory point is used to replace the trajectory point in the corresponding global trajectory point; the unreplaced trajectory point and the obstacle avoidance trajectory point in the trajectory point covered by the first preset length are used as the local track point.
  • the technical solution provided by the embodiment of the present invention includes:
  • S220 Use the starting point of the global trajectory point as the starting point of the first preset length.
  • S230 Screen the track points covered by the first preset length from the global track points.
  • the first preset distance and the second preset distance may be set as required, or may also be determined based on the current speed of the drone. When the current speed of the drone is larger, the first preset distance and the second preset distance are larger.
  • the distance between the obstacle and the end point of the first preset length is greater than the first preset distance used for obstacle avoidance
  • the distance between the obstacle and the end point of the first preset length is greater than the first preset distance used for obstacle avoidance
  • FIG. 2b there is an obstacle 100 on the trajectory formed by the trajectory points covered by the first preset length L min_for_execution , and the distance between the obstacle 100 and the end point of the first preset length is relatively large (the obstacle 100 is located at the end point of the first preset length).
  • the middle position of L min_for_execution if the drone moves according to the trajectory point covered by the first preset length, it will hit the obstacle 100.
  • the obstacle avoidance trajectory points can be determined based on the first preset distance, the second preset distance and the information of the obstacles.
  • the hollow circle points can be the obstacle avoidance trajectory points
  • the obstacle avoidance trajectory points can be Replace the track points in the corresponding global track points (part of track points in the track points covered by the first preset length).
  • the obstacle avoidance trajectory point is determined based on the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and the obstacle avoidance trajectory point is replaced by the obstacle avoidance trajectory point.
  • the trajectory points in the corresponding global trajectory points include: in the global trajectory points, determining the first trajectory point corresponding to the position at the first preset distance behind the obstacle and the position at the second preset distance before the obstacle The corresponding second trajectory point; the obstacle avoidance trajectory point is determined based on the information of the first trajectory point, the information of the second trajectory point and the information of the obstacle; it will be located between the second trajectory point and the first trajectory point in the global trajectory point The trajectory points of are replaced with obstacle avoidance trajectory points.
  • the information of the first track point includes the speed and position of the first track point
  • the information of the second track point includes the position and speed of the second track point.
  • the first trajectory point may be a trajectory point at a position of a first preset distance behind the obstacle, or a subsequent trajectory point at a position of the first preset distance behind the obstacle.
  • the second trajectory point may be a trajectory point at a position at a second preset distance before the obstacle, or may also be a previous trajectory point at a position at a second preset distance before the obstacle.
  • the Hybrid A* algorithm or other related algorithms can be used to determine the obstacle avoidance trajectory point based on the information of the first trajectory point, the information of the second trajectory point and the information of the obstacle (including determining the position and speed of the obstacle avoidance trajectory point) .
  • the generated obstacle avoidance trajectory and the original trajectory are smooth in speed, and the operation efficiency is improved.
  • the first trajectory point may be the trajectory point 10
  • the second trajectory point may be the trajectory point 20
  • the obstacle avoidance trajectory point may be used to separate the trajectory point (which may include the trajectory 10) between the trajectory point 10 and the trajectory point 20. and track point 20) to replace the track point between track point 10 and track point 20.
  • S250 Use unreplaced track points and obstacle avoidance track points in the track points covered by the first preset length as local track points, and generate a local track based on the local track points.
  • the track points after the track point 10 and the track points before the track point 20 are the track points that are not replaced in the track points covered by the first preset length, and the unreplaced track points are Points and obstacle avoidance trajectory points are used as local trajectory points, and a local trajectory is generated based on the local trajectory points, and a control amount can be generated based on the local trajectory, so that the UAV can be controlled to move along the local trajectory based on the control amount.
  • S260 Control the UAV to move a distance of a second preset length based on the local trajectory.
  • S280 Control the UAV to continue to move along the local trajectory to the last trajectory point.
  • S290 Take the next trajectory point of the current position of the drone as the starting point of the first preset length, and return to S230.
  • the UAV moves a distance of the second preset length based on the local trajectory, and uses the next trajectory point of the current position of the UAV as the starting point of the first preset length. If the local trajectory is regenerated, the last generated local trajectory contains the trajectory points that the UAV has not yet reached, and the trajectory points that the UAV has not reached (may include obstacle avoidance trajectory points) become part of the global trajectory points. Return to the operation of screening the global track points covered by the first preset length until the global track points are screened.
  • the trajectory points covered by the first preset length in the global trajectory points if there is an obstacle on the trajectory formed by the trajectory points covered by the first preset length, and the obstacle is connected to the end point of the first preset length distance is greater than the first preset distance for obstacle avoidance, determine the obstacle avoidance trajectory point based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle, and use the obstacle avoidance trajectory point to replace The corresponding trajectory points in the global trajectory points; the unreplaced trajectory points and the obstacle avoidance trajectory points in the trajectory points covered by the first preset length are used as the local trajectory points, so that the obstacles can be processed in time and the obstacles can be avoided accurately.
  • determining a local trajectory point based on the screened trajectory points includes: if the trajectory points covered by the first preset length form There are obstacles on the trajectory of Four preset lengths; wherein, the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance; the avoidance is determined based on the first preset distance, the second preset distance for obstacle avoidance and the information of the obstacle
  • the obstacle avoidance track point is used to replace the track point in the corresponding global track point; the unreplaced track point and the obstacle avoidance track point in the track point covered by the fourth preset length are used as the local track point.
  • the technical solution provided by the embodiment of the present invention includes:
  • S320 Use the starting point of the global trajectory point as the starting point of the first preset length.
  • S330 Screen the track points covered by the first preset length from the global track points.
  • an obstacle exists on the trajectory formed by the trajectory points covered by the first preset length, and the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance used for obstacle avoidance
  • the distance between the obstacle and the end point of the first preset length is smaller than the first preset distance used for obstacle avoidance
  • the distance between the obstacle 100 and the end point of the first preset length is small (the obstacle 100 is close to The end point of the first preset length)
  • the trajectory point after the obstacle 100 is not enough to support the UAV to return to the original trajectory point, so it is necessary to continue to filter the trajectory points along the global trajectory point.
  • FIG. 3b there is an obstacle 100 on the trajectory formed by the trajectory points covered by the first preset length L min_for_execution , and the distance between the obstacle 100 and the end point of the first preset length is small (the obstacle 100 is close to The end point of the first preset length), the trajectory point after the obstacle 100 is not enough to support the UAV to return to the original trajectory point, so it
  • a third preset length L clear may be added to the first preset length to obtain a fourth preset length.
  • the distance from the end point of the fourth preset length to the obstacle 100 is greater than the first preset distance, so that the UAV can return to the original trajectory point, and can return while accurately avoiding obstacles.
  • the hollow circles represent the obstacle avoidance trajectory points
  • the solid circles represent the trajectory points in the global trajectory points, which may also be referred to as the original trajectory points.
  • the sensor can identify the distant obstacle and avoid the obstacle in advance, it is impossible for the obstacle to appear at a position close to the starting point of the first preset length.
  • S350 Determine an obstacle avoidance trajectory point based on the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and replace the trajectory point in the corresponding global trajectory point with the obstacle avoidance trajectory point.
  • the obstacle avoidance trajectory point is determined based on the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and the obstacle avoidance trajectory point is replaced by the obstacle avoidance trajectory point.
  • the trajectory points in the corresponding global trajectory points include: in the global trajectory points, determining the first trajectory point corresponding to the position at the first preset distance behind the obstacle and the position at the second preset distance before the obstacle The corresponding second trajectory point; the obstacle avoidance trajectory point is determined based on the information of the first trajectory point, the information of the second trajectory point and the information of the obstacle; it will be located between the second trajectory point and the first trajectory point in the global trajectory point
  • the trajectory points of are replaced with obstacle avoidance trajectory points.
  • S360 Use unreplaced track points and obstacle avoidance track points in the track points covered by the fourth preset length as local track points, and generate a local track based on the local track points.
  • the track points after the track point 30 and the track points before the track point 40 are the track points that are not replaced in the track points covered by the fourth preset length, and the unreplaced track points are Points and obstacle avoidance trajectory points are used as local trajectory points; wherein, for the introduction of generating local trajectories based on local trajectory points, reference may be made to the foregoing embodiments.
  • S370 Control the UAV to move a distance of a second preset length based on the local trajectory.
  • S390 Control the UAV to continue to move along the local trajectory to the last trajectory point.
  • S391 Use the next trajectory point of the current position of the drone as the starting point of the first preset length, and return to S330.
  • a third preset length is added to obtain a fourth preset length, and the unreplaced track points and obstacle avoidance track points in the track points covered by the fourth preset length are used as local track points to generate Local trajectory can avoid incomplete obstacle avoidance trajectory generation, and achieve accurate obstacle avoidance while allowing the UAV to return to the global trajectory.
  • the UAV moves along the global trajectory point under normal circumstances.
  • the obstacle appears on the global trajectory (in fact, it appears on the local trajectory, the two are basically equivalent in most cases)
  • the drone needs to leave the original trajectory to avoid obstacles, and then return to the original trajectory.
  • the UAV needs to be stopped, or the flight controller decelerates the UAV to a certain speed and then the controller controls the UAV to avoid obstacles.
  • two methods in the related art make the UAV move. The process is not stable, and the change of control of the latter can easily cause the movement of the drone to be unstable.
  • the technical solutions provided by the embodiments of the present invention can be executed by a trajectory planner, which avoids frequent exchange of control rights, increases the integration of planning, and ensures the stability of the movement of the UAV.
  • the trajectory planner provided by the present invention can also perform the execution of the 3D operation route.
  • FIG. 4 is a structural block diagram of a trajectory planning apparatus provided by an embodiment of the present invention.
  • the apparatus provided by an embodiment of the present invention includes: a global trajectory point determination module 410, a starting point determination module 420, a local trajectory generation module 430 and Control/return to module 440.
  • the global trajectory point determination module 410 is used to determine the global trajectory point of the operation route
  • the starting point determination module 420 is configured to use the starting point of the global trajectory point as the starting point of the first preset length
  • the local trajectory generation module 430 is used for screening the trajectory points covered by the first preset length in the global trajectory points, determining the local trajectory points based on the screened trajectory points, and generating the local trajectory based on the local trajectory points;
  • the control/return module 440 is used to control the UAV to move the distance of the second preset length based on the local trajectory, take the next trajectory point of the current position of the UAV as the starting point of the first preset length, and return to the global trajectory point The operation of screening the trajectory points covered by the first preset length until the global trajectory point screening is completed, wherein the first preset length is greater than the second preset length.
  • determine local trajectory points based on the filtered trajectory points including:
  • the second preset distance for obstacle avoidance and the information of the obstacle determine the obstacle avoidance trajectory point, and use the obstacle avoidance trajectory point to replace the trajectory point in the corresponding global trajectory point;
  • Unreplaced track points and obstacle avoidance track points in the track points covered by the first preset length are used as local track points.
  • determine local trajectory points based on the filtered trajectory points including:
  • a third preset length is added to obtain a fourth preset length; wherein, the distance between the end point of the fourth preset length and the obstacle is greater than the first preset distance;
  • Unreplaced track points and obstacle avoidance track points in the track points covered by the fourth preset length are used as local track points.
  • the obstacle avoidance trajectory point is determined based on the first preset distance, the second preset distance used for obstacle avoidance, and the information of the obstacle, and the obstacle avoidance trajectory point is used to replace the trajectory point in the corresponding global trajectory point, including: :
  • a first trajectory point corresponding to a position at a first preset distance behind the obstacle and a second trajectory point corresponding to a position at a second preset distance before the obstacle are determined;
  • determine local trajectory points based on the filtered trajectory points including:
  • the selected trajectory points are used as local trajectory points.
  • determine the global trajectory points of the operation route including:
  • the maximum speed among the speeds satisfying the following conditions is determined as the maximum speed:
  • the speed at each route point is less than or equal to the maximum speed allowed for the job
  • the speed of the first route point and the last route point is 0;
  • the speed of a route point it can decelerate to the next route point with the maximum acceleration allowed by the drone, or accelerate to the next route point with the maximum acceleration allowed by the drone;
  • the forward speed of the waypoint is determined based on the size of the corner.
  • the forward speed of the route point is determined based on the size of the corner, including:
  • the forward speed of the route point is determined based on the following formula:
  • vx is the forward speed of the UAV
  • ⁇ is the size of the turning angle
  • a 0 is the acceleration of the UAV
  • d is the distance from the route point when the UAV decelerates.
  • control the UAV to move a distance of a second preset length based on the local trajectory including:
  • the UAV is controlled to move a distance of a second preset length along the local trajectory based on the control amount.
  • the above apparatus can execute the method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
  • FIG. 5 is a schematic structural diagram of a trajectory planner provided by an embodiment of the present invention.
  • the trajectory planner 50 includes a trajectory planning device 500 provided by an embodiment of the present invention.
  • the trajectory planning device 500 (the trajectory planning device shown in FIG. 4 ) ) to execute the trajectory planning method provided by any of the foregoing embodiments of the present invention.
  • An embodiment of the present invention further provides an unmanned aerial vehicle, including the trajectory planner provided by the embodiment of the present invention, that is, the planner shown in FIG. 5 .
  • FIG. 6 shows a block diagram of an unmanned aerial vehicle 600 for executing a trajectory planning method provided by an exemplary embodiment of the present application.
  • the drone 600 includes a processing component 610, which further includes one or more processors, and a memory resource, represented by memory 620, for storing instructions executable by the processing component 610, such as application programs.
  • An application program stored in memory 620 may include one or more modules, each corresponding to a set of instructions.
  • the processing component 610 is configured to execute instructions to perform the trajectory planning method described above.
  • the drone 600 may also include a power supply assembly configured to perform power management of the drone 600, a wired or wireless network interface configured to connect the drone 600 to a network, and an input output (I/O) interface .
  • the drone 600 can be operated based on an operating system stored in the memory 620, such as Windows Server TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or the like.
  • An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements a trajectory planning method provided by any of the foregoing embodiments of the present invention: for example, it can realize : Determine the global trajectory point of the operation route; take the starting point of the global trajectory point as the starting point of the first preset length; filter the trajectory points covered by the first preset length in the global trajectory points, and determine the local trajectory point based on the selected trajectory points , and generate a local trajectory based on the local trajectory points; control the UAV to move the distance of the second preset length based on the local trajectory, take the next trajectory point of the current position of the UAV as the starting point of the first preset length, and return to the global trajectory The operation of screening the trajectory points covered by the first preset length in the points, until the global trajectory point screening is completed, wherein the first preset length is greater than the second preset length.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procédé de planification de trajectoire, appareil de planification de trajectoire (500), planificateur de trajectoire (50), véhicule aérien sans pilote (600) et support de stockage. Le procédé de planification de trajectoire consiste à : déterminer des points de trajectoire globale d'un itinéraire de travail (S110) ; utiliser un point de départ des points de trajectoire globale comme point de départ d'une première longueur prédéfinie (S120) ; cribler les points de trajectoire globale pour des points de trajectoire couverts par la première longueur prédéfinie, déterminer des points de trajectoire locale sur la base des points de trajectoire criblés, et générer une trajectoire locale sur la base des points de trajectoire locale (S130) ; commander le déplacement du véhicule aérien sans pilote d'une seconde longueur prédéfinie sur la base de la trajectoire locale (S140) ; déterminer si tous les points de trajectoire globale ont été criblés (S150) ; si tel est le cas, commander la poursuite du déplacement du véhicule aérien sans pilote le long de la trajectoire locale vers le dernier point de trajectoire (S160) ; si tel n'est pas le cas, utiliser le prochain point de trajectoire de la position actuelle du véhicule aérien sans pilote comme point de départ de la première longueur prédéfinie (S170), et retour à l'opération de criblage des points de trajectoire globale pour le point de trajectoire couvert par la première longueur prédéfinie jusqu'à ce que tous les points de trajectoire globale soient criblés, la première longueur prédéfinie étant supérieure à la seconde longueur prédéfinie. Par conséquent, le véhicule aérien sans pilote peut éviter avec précision des obstacles rencontrés. La sécurité du véhicule aérien sans pilote est assurée, et l'efficacité de fonctionnement est améliorée.
PCT/CN2021/137486 2020-12-15 2021-12-13 Procédé et appareil de planification de trajectoire, planificateur de trjectoire, véhicule aérien sans pilote, et support de stockage Ceased WO2022127737A1 (fr)

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