The invention belongs to the technical field of unmanned aerial vehicle path planning, and discloses a four-rotor unmanned aerial vehicle with a spherical shell and a spherical unmanned aerial vehicle path planning method with collision rebounding, which are implemented on the four-rotor unmanned aerial vehicle with the spherical shell, and comprises the following steps: step 1, carrying out track search by adopting a KRRT * algorithm with collision sampling and kinematics; step 2, carrying out point cloud map sampling on the surface of the obstacle; 3, establishing a model of speed change before and after collision; and 4, introducing collision perception to generate a track. According to the method, collision is introduced in the path planning process, and the flight direction of the unmanned aerial vehicle can be changed by using the counter-acting force generated by collision, so that faster turning is realized, the flight time at a sharp turn is shortened, and the flight efficiency is improved. The problem that a traditional unmanned aerial vehicle path planning algorithm needs to detour or needs to adjust the attitude for a long time is avoided. The energy consumption of the unmanned aerial vehicle is reduced, the endurance time of the unmanned aerial vehicle is prolonged, and the cruising ability of the unmanned aerial vehicle is improved.

    本发明属于无人机路径规划技术领域,公开了一种有球形外壳的四旋翼无人机及加入碰撞反弹的球形无人机路径规划方法,在有球形外壳的四旋翼无人机上实行,包括步骤1:采用带碰撞采样和运动学的KRRT*算法进行轨迹搜索;步骤2:在障碍物表面进行点云地图采样;步骤3:建立碰撞前后速度改变的模型;步骤4:引入碰撞感知进行轨迹生成。本发明通过在路径规划过程中引入碰撞,可以利用碰撞产生的反作用力改变无人机的飞行方向,从而实现更快速的转弯,减少急转弯处的飞行时间,提高飞行效率。避免了传统的无人机路径规划算法中需要绕路或者需要长时间调整姿态的问题。减少无人机的能量消耗,延长无人机的续航时间,从而提高无人机的续航能力。


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    Title :

    Four-rotor unmanned aerial vehicle with spherical shell and spherical unmanned aerial vehicle path planning method with collision rebound


    Additional title:

    一种有球形外壳的四旋翼无人机及加入碰撞反弹的球形无人机路径规划方法


    Contributors:
    WANG JIN (author) / HU CHUANQI (author) / YU HUAN (author) / ZHENG ZHI (author) / TU JIE (author) / ZHANG ZHILING (author) / LI ZHENYU (author) / CAI QIFENG (author) / ZHANG HAIYUN (author) / LU GUODONG (author)

    Publication date :

    2024-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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