A joint search method for UAV multiobjective path planning in an urban low altitude environment first constructs a static safety index map based on static known obstacles. Meanwhile, based on proactively detected obstacles that are not marked on a geographic map by a UAV, the method constructs online a dynamic safety index map. Second, a multiobjective path planning problem is solved using a joint offline and online search method. Moreover, this method first plans offline the least cost path from a starting point to an end point and then invokes the online search scheme to replan online a changed path when the UAV detects unknown obstacles. Thus, the UAV can avoid dynamic obstacles effectively. The online search scheme has a small search space and can quickly replan a safe path for the UAV, thus satisfying the requirement of UAV on the real-time path planning.
JOINT SEARCH METHOD FOR UAV MULTIOBJECTIVE PATH PLANNING IN URBAN LOW ALTITUDE ENVIRONMENT
2018-10-25
Patent
Elektronische Ressource
Englisch
Joint search method for UAV multiobjective path planning in urban low altitude environment
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