The invention relates to the technical field of air traffic management, in particular to an unmanned aerial vehicle conflict-free route planning method and system applied to a low-altitude airspace, and the method comprises the steps: obtaining the starting point and terminal point information of the flight of an unmanned aerial vehicle in an airspace unit when detecting that a new unmanned aerial vehicle enters the airspace unit; acquiring information about whether the grids of the airspace units have conflicts or not; obtaining reachable grids and feasible grids of the unmanned aerial vehicle; obtaining alternative nodes based on the feasible grids of the unmanned aerial vehicle; based on the alternative nodes, a preset constraint condition and the power consumption, obtaining a directed weighted graph; a path in the directed weighted graph represents a conflict-free track; searching the directed weighted graph by adopting an A-star algorithm to obtain an optimal conflict-free track, and controlling the unmanned aerial vehicle to execute the optimal conflict-free track; according to the invention, the optimal conflict-free flight path of the unmanned aerial vehicle can be efficiently and rapidly planned.
本发明涉及空中交通管理技术领域,具体涉及一种应用于低空空域的无人机无冲突航迹规划方法及系统,包括:当检测到空域单元有新的无人机进入时,获取无人机在所述空域单元飞行的起点和终点信息;获取空域单元的栅格是否有冲突的信息;获取所述无人机的可达栅格、可行栅格;基于所述无人机的可行栅格获取备选节点;基于所述备选节点、预设约束条件和电量消耗量,获取有向赋权图;所述有向赋权图中的路径表示无冲突航迹;采用A‑star算法对所述有向赋权图进行搜索,获取最优无冲突航迹,控制无人机执行所述最优无冲突航迹;本发明能够高效且快速地规划无人机的最优无冲突航迹。
Unmanned aerial vehicle conflict-free route planning method and system applied to low-altitude airspace
一种应用于低空空域的无人机无冲突航迹规划方法及系统
2025-02-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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