The invention discloses an unmanned aerial vehicle trajectory planning method, device and equipment and a storage medium, and relates to the technical field of man-machine cooperation trajectory planning, and the unmanned aerial vehicle trajectory planning method comprises the steps: converting a received operation action for an unmanned aerial vehicle into an input element through a wheelbarrow model; a motion primitive tree is constructed based on the current state and the input primitive of the unmanned aerial vehicle, and the motion primitive tree comprises a plurality of feasible tracks; and determining a target trajectory of the unmanned aerial vehicle from the feasible trajectories according to the input elements. According to the method and the device, the target trajectory conforming to the intention of the user is generated by fully utilizing the input primitive, so that the adjustment of the trajectory by the user is reduced in the flight process of the unmanned aerial vehicle based on the target trajectory, the operation burden of the user is reduced, and the remote operation efficiency of the unmanned aerial vehicle is improved.

    本申请公开了一种无人机轨迹规划方法、装置、设备以及存储介质,涉及人机协同轨迹规划技术领域,该无人机轨迹规划方法包括:通过独轮车模型,将接收到的针对无人机的操作动作转换为输入基元;基于无人机的当前状态和输入基元,构建运动基元树,其中,运动基元树包括多个可行轨迹;根据输入基元,从可行轨迹中,确定无人机的目标轨迹。本申请通过对输入基元的充分利用,生成符合用户意图的目标轨迹,从而在无人机基于目标轨迹飞行的过程中,减少用户对轨迹的调整,从而降低用户的操作负担,提升无人机遥操作的效率。


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    Title :

    Unmanned aerial vehicle trajectory planning method, device and equipment and storage medium


    Additional title:

    无人机轨迹规划方法、装置、设备以及存储介质


    Contributors:
    ZHU XIAOJUN (author) / HUANG KANGJIE (author) / ZHANG ZHONGZHENG (author) / PAN YAN (author) / ZHAO YUNBO (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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