Research on Obstacle Avoidance Path Planning for UAV Aerial Survey in Mountainous Areas Based on Rolling Speed Obstacle Method
During aerial surveying in mountainous areas,unmanned aerial vehicles(UAVs)often encounter dynamic obstacles such as birds.If obstacles are not avoided in a timely manner,it is easy to lead to accidents and potential crashes.Therefore,a UAV mountain aerial survey obstacle avoidance path planning method based on the rolling velocity obstacle approach is developed.Based on the mountain environment model,a comprehensive objective function is established by considering the flight path length and path smoothness.An improved Cuckoo search algorithm is employed to achieve the initial path for the UAV mountain aerial survey.The images are preprocessed to identify the obstacles encountered during the UAV's initial path flight.The ultrasonic measurements are used to estimate the distance between the UAV and obstacles,the velocity obstacle model is established to analyze the potential colli-sions.The rolling window approach is utilized to determine whether there is any flight conflict between the UAV and obstacles.The rolling velocity obstacle method is used to realize the obstacle avoidance of rolling angle and velocity,resulting in an optimized path for the UAV,the obstacle avoidance path planning for UAV mountainous aerial survey based on the rolling velocity obstacle method.Testing results indicate that the obstacle avoidance path length for aerial surveying is 571.45 m,with a smoothness measurement of 165.52,this planning approach demonstrates more reasonable.
万方数据
维普
