This disclosure provides a cooperative path planning method and device for automatic control aerocraft and aerocraft system. The method includes: determining the current evaluation index of each selected point according to its current position, the target position of the aerocraft and the position of obstacles in the selected area; updating the adjustment displacement of each selected point according to its adjustment displacement, current position and historical optimal position, as well as the global optimal position; updating the current position of each selected point according to its current position and the updated adjustment displacement; after the current position is updated for a set number of times, selecting the position corresponding to the optimal evaluation index from the current positions and global optimal position of all selected points as the next waypoint of the aerocraft.
COOPERATIVE PATH PLANNING METHOD AND DEVICE FOR AUTOMATIC CONTROL AEROCRAFT AND AEROCRAFT SYSTEM
2021-09-23
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Cooperative path planning method and device for automatic control aerocraft and aerocraft system
European Patent Office | 2023
|