用于在小区域使用的无人飞行器的终端云协作导航规划方法
Huajie Xiong1, Baoguo Yu1, Qingwu Yi1
1State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China.
Sensors (Basel, Switzerland)
|August 26, 2023
概括
本研究介绍了无人机 (UAV) 的终端云协作导航规划方法. 该方法提高了区域搜索和铁路巡逻等任务的导航精度和效率.
科学领域:
- 机器人和自动化 机器人和自动化
- 人工智能的人工智能
- 航空航天工程 航空航天工程
背景情况:
- 无人机 (UAV) 的协作对于区域搜索和铁路巡逻等任务至关重要.
- 无人机的导航规划是一个复杂的优化挑战,对于避开障碍和完成任务至关重要.
- 目前的自主和地面控制的导航方法面临着空中处理能力和通信延迟的限制.
研究的目的:
- 为无人机开发一种新的导航规划方法,以解决准确性和及时性方面的限制.
- 为无人机导航设计一个终端云协作架构.
- 提高无人机导航计划的有效性和效率.
主要方法:
- 为无人机设计了一个终端云协作导航规划架构.
- 开发了一个基于云的导航规划算法,使用改进的粒子集群优化 (PSO).
- 创建了一个终端导航控制算法,采用多目标混合蜂群智能优化算法.
主要成果:
- 计算机模拟证明了拟议方法的正确性和可行性.
- 用小型旋转机无人机进行室内飞行测试验证了这种方法.
- 终端云协作显著提高了无人机导航计划的有效性和效率.
结论:
- 拟议的终端云协作导航规划方法对无人机有效且可行.
- 这种方法克服了空中处理能力和通信延迟的局限性.
- 该方法提高了无人机导航在各种应用中的整体性能.
相关概念视频
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device
78
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
78
Absolute Motion Analysis- General Plane Motion
240
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
240
Types of Global Positioning System Surveys
77
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
77
Field Application of Global Positioning System
66
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
66
Topographic Surveying and Contours
122
Topographic surveying is critical for documenting the Earth's surface, focusing on capturing elevations, slopes, and natural and man-made features. It is essential in construction planning, water resource management, and land-use analysis. The primary outcome of such surveys is a topographic map, which uses contour lines to visually represent the shape and slope of the terrain, providing valuable insights into the landscape's characteristics.Contour lines are fundamental to understanding the...
122
Manipulation and Analysis
42
GIS manipulation and analysis functions are vital for decision-making and planning. These activities range from data retrieval tasks, such as selecting information based on specific criteria, to advanced analytical techniques that address complex spatial problems.One critical GIS analysis method is overlaying, which combines multiple data layers to examine impacts. For example, overlaying a river-dammed lake boundary with road networks can identify affected infrastructure. Another common...
42


