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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Vydáno v:	2021 6th International Conference on Control, Robotics and Cybernetics (CRC) s. 225 - 229
Hlavní autor:	Zhang, Zhenwei
Médium:	Konferenční příspěvek
Jazyk:	angličtina
Vydáno:	IEEE 09.10.2021
Témata:	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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Popis
Shrnutí:	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