The invention is suitable for the technical field of aircraft obstacle avoidance, and particularly relates to a laser radar-based cluster aircraft obstacle avoidance system, which comprises dynamic calibration equipment, route making equipment and cluster overall planning equipment, and the dynamic calibration equipment is used for dividing a task area of the cluster aircraft, scanning the distribution condition of obstacles in the task area by using a laser radar, integrating a preset environment grade division rule, calibrating at least one environment grade in the task area, and constructing a dynamic adjustment mechanism of the environment grade. According to the invention, by slicing the task area, obstacle detection can be simplified, obstacle avoidance precision and flight safety can be improved, by determining the fly-around area, the fly-around starting point and the fly-around terminal point, an obstacle avoidance path can be further optimized, task control can be enhanced, by creating the chain table, cooperation efficiency of cluster aircrafts can be improved, centralized management of resources can be facilitated, and the method is suitable for popularization and application. And the flight safety is greatly enhanced.
本发明适用于飞行器避障技术领域,尤其涉及基于激光雷达的集群飞行器避障系统,所述系统包括:动态标定设备、路线制定设备和集群统筹设备;所述动态标定设备,用于划分出集群飞行器的任务区域,利用激光雷达,扫描出任务区域内障碍物的分布情况,并整合预设的环境等级划分规则,在任务区域中,标定出至少一个环境等级,构建出所述环境等级的动态调整机制。本发明通过对任务区域进行切片,能够简化障碍物检测,提高避障精度和飞行安全,通过确定绕飞区、绕飞起点和绕飞终点,能够进一步优化避障路径,增强任务控制,通过创建链表,能够提升集群飞行器的协作效率,便于进行资源的集中管理,大大增强飞行安全性。
Cluster aircraft obstacle avoidance system based on laser radar
基于激光雷达的集群飞行器避障系统
2024-10-22
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Helicopter Laser Radar for Obstacle Avoidance
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|Helicopter laser radar for obstacle avoidance
Tema Archive | 1994
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