Obstacle Recognition and Path Planning of UAV Flight

Aiming at the problem of classification and detection of obstacles and flight path planning in the process of UAV obstacle avoidance, YOLO is used the algorithm detects the category information of obstacles. Based on the construction of indoor 3D maps, the TSP algorithm is used to detect obstacles....

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Bibliographic Details
Published in:2021 6th International Conference on Control, Robotics and Cybernetics (CRC) pp. 225 - 229
Main Author: Zhang, Zhenwei
Format: Conference Proceeding
Language:English
Published: IEEE 09.10.2021
Subjects:
Analytical models
Classification algorithms
Collision avoidance
Mathematical models
object recognition algorithm
Path planning
Robots
Three-dimensional displays
TSP algorithm
UAV
YOLO algorithm
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Summary:Aiming at the problem of classification and detection of obstacles and flight path planning in the process of UAV obstacle avoidance, YOLO is used the algorithm detects the category information of obstacles. Based on the construction of indoor 3D maps, the TSP algorithm is used to detect obstacles. Research on the path planning of man-machines, establish the control mathematical model of obstacle avoidance flight under hypothetical scenarios, and obtain the best flight path through simulation analysis and comparison.
DOI:10.1109/CRC52766.2021.9620154