The invention aims to provide an unmanned aerial vehicle and helicopter operation conflict resolution method and device, and a storage medium. The method comprises the following steps: constructing an operation unmanned aerial vehicle group and determining an obstacle avoidance priority of each unmanned aerial vehicle in the operation unmanned aerial vehicle group; determining a conflict resolution airspace; a conflict detection step: sequentially judging whether each unmanned aerial vehicle in the running unmanned aerial vehicle group conflicts with the target helicopter based on the obstacle avoidance priority, and determining the unmanned aerial vehicles in a conflict state; a release step: setting the target helicopter as an obstacle, and sequentially performing path planning on the unmanned aerial vehicles in the conflict state according to the obstacle avoidance priorities of the unmanned aerial vehicles in the conflict state; and setting a time interval, re-determining the related information of the running unmanned aerial vehicle group and the related information of the target helicopter, and repeating the conflict detection step and the release step until all the running unmanned aerial vehicles leave the conflict release airspace. Calculation is simple and fast, and important technical support is provided for unmanned aerial vehicle conflict solution.
本申请的目的是提供一种无人机与直升机运行冲突解脱的方法、设备及存储介质,本申请通过构建运行无人机群及确定运行无人机群内每一个无人机的避障优先级;确定冲突解脱空域;进行冲突探测步骤:基于避障优先级依次判断运行无人机群内每一无人机与目标直升机是否发生冲突,确定处于冲突状态的无人机;进行解脱步骤:设置目标直升机为障碍物,根据处于冲突状态的无人机的避障优先级依次对处于冲突状态的无人机进行路径规划;设置时间间隔,重新确定运行无人机群的相关信息及目标直升机的相关信息,重复所述冲突探测步骤和解脱步骤,直至所有运行的无人机离开冲突解脱空域。计算简便快捷,为无人机冲突化解提供重要的技术支撑。
Unmanned aerial vehicle and helicopter operation conflict resolution method and device and storage medium
无人机与直升机运行冲突解脱的方法、设备及存储介质
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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