Research On Path Planning For Indoor Multi-Rotorcraft UAV

As the research focus in mobile robots,the independent performance of multi-rotorcraft UAV has been constantly improved.Path planning as the independent typical ability is the important research in UAV.Path planning UAV path planning research is usually concentrated in the outdoor open environment,the indoor environment with more time-varying and unpredictable,to carry out indoor complex time-varying environment of UAV precision path planning for UAV autonomous coordination and precision Operation is of great significance.In this paper,the author analyzes the complex factors of indoor environment and analyzes the path planning of multi-rotor unmanned aerial vehicles(UAVs)in the background of the research and application of multi-rotor UAV path planning.Considering the multi-rotor unmanned aerial vehicle(UAV)in the indoor environment,it is difficult to guarantee the accuracy of environment modeling and the efficiency of the planning algorithm by analyzing the traditional environment modeling method,such as planning space is small,the boundary condition is large and the avoidance margin is small.On the basis of the grid method,the "three-dimensional environment modeling method for high dimensionality reduction" is proposed,which realizes the environmental modeling of the multi-rotor UAV path planning space and the establishment of the three-dimensional spatial model In the process,this method reduces the number of rasters constructed by the traditional grid method,and reduces the complexity of the planning algorithm to deal with the environment model.Based on the establishment of the model of indoor planning space environment,this paper first describes the characteristics of global path planning in indoor environment,and points out that the global path planning problem in indoor environment needs to rely on a set of efficient and accurate path planning algorithm.Therefore,This paper discusses the advantages of heuristic algorithm in solving the global path planning problem.By studying the classical heuristic search algorithm,the principle of A*algorithm and the realization process,the A*The algorithm performs global static path planning on the indoor 3D dimensionality reduction model and completes the simulation.Based on the study of the global static path planning method in indoor environment,this paper points out that complex problems such as temporal changes of environmental information and irregularity of dynamic obstacle in indoor environment,A*algorithm in local dynamic time-varying environment,its own planning This paper studies the research results of local dynamic path planning at home and abroad,and points out that the memoryless A*algorithm has good dynamic performance,but it has a good performance in the complex environment,but it can not meet the requirements of local dynamic programming.The local dynamic programming is easy to fall into the local optimal solution.On this basis,this paper presents a method of local dynamic search based on the global path planning results.A memoryless regression A*algorithm is designed and combined with the traditional A*algorithm for dynamic programming.Finally,The simulation study of the "trap" problem verifies the correctness of the non-memory regression A*algorithm and the design of the dynamic programming idea.After the completion of the above theoretical research,this paper introduces the basic composition,basic use and working principle of the indoor visual positioning platform,builds the unmanned aerial vehicle indoor path planning flight test platform,introduces the multi-rotor unmanned aerial vehicle selection scheme and hardware Process,designed based on the Qt UAV ground station system,completed by the indoor visual positioning platform to the ground station system,and then to the unmanned aerial vehicle communication link design,set up in the whole set of indoor experimental platform,launched the indoor environment Multi-rotor unmanned aerial vehicle global path planning flight test.