Research On Fast Route Planning Method For Small UAV Based On Indoor Environment

In recent years,the application of UAV has become increasingly widespread in the military field and daily life,and the route planning plays an important role in UAV's autonomous flight.The study of UAV's route planning is particularly important for completing the scheduled tasks fast and safely.Based on the triangular grid environment data obtained by 3D reconstruction,this paper mainly studies the fast route planning method of small UAV in indoor environment.First,this paper introduces the research background,significance and research status of UAV 3D route planning and analyzes several common planning environment models.Then the route planning problem model is analyzed,the way to express the route is given and the constraints of UAV 3D route planning are summarized.Morever,this paper introduces the process of building model of constrained region in 3D planning environment and the method for establishing planning space.Otherwise,the principle of visibility analysis is introduced briefly and its development in the route planning is described.Based on the triangular grid environment data obtained by 3D reconstruction,this paper proposed a three-dimensional path planning algorithm based on visibility analysis at last.This method uses "walking to see" strategy which checks inter-visibility between the current point of UAV and the target point and then decides the way to move forward.After a number of visual inspection,the UAV can avoid the constraints in the three-dimensional environment to reach the target point.As the idea of "side to see" is essentially a greedy algorithm,the algorithm can only get a feasible solution rather than the optimal solution,but its planning speed is further than other algorithms.This paper conducts a comparative experiment of the algorithm based on visibility analysis,A * algorithm and particle swarm algorithm.The experimental results show that the algorithm based on visibility analysis can quickly generate three-dimensional feasible trajectories with less memory space.Compared with A * algorithm and particle swarm algorithm,the change of the triangular grid scale has little influence on planning time and memory consumption of the algorithm based on visibility analysis.So the algorithm proposed by this paper can be well adapted to the changes in environmental data scales.