Joint search method for UAV multiobjective path planning in urban low altitude environment
US10706729B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 18, 2018 |
| Grant date | Jul 7, 2020 |
| Priority date | — |
| Expiry date | Oct 20, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U2201/10
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.