Obstacle avoiding method and apparatus for unmanned aerial vehicle based on multi-signal acquisition and route planning model
US11353893B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 8, 2021 |
| Grant date | Jun 7, 2022 |
| Priority date | — |
| Expiry date | Sep 8, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/89
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Disclosed is an obstacle avoiding method and apparatus for an unmanned aerial vehicle based on a multi-signal acquisition and route planning model. The method comprises: conducting signal acquisition processing on a first environmental area to obtain an initial millimeter-wave radar signal, an initial laser radar signal, an initial image signal and an initial ultrasonic signal; generating an initial three-dimensional environmental model according to a preset dynamic environment real-time modeling method; acquiring a motion parameter and a body shape parameter of the unmanned aerial vehicle and inputting the parameters into an initial route planning model corresponding to the initial three-dimensional environmental model based on a genetic algorithm to process so as to obtain an output of the initial route planning model; judging whether the output is capable of avoiding an obstacle; if yes, generating an obstacle avoiding flight instruction to require the unmanned aerial vehicle to fly through the first environmental area.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.