CN113297739A - Geometric flight corridor generation method and device and related components thereof - Google Patents
Geometric flight corridor generation method and device and related components thereof Download PDFInfo
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Abstract
The invention discloses a method and a device for generating a flight corridor with a geometric configuration and related components thereof. The method comprises the steps of obtaining a plurality of path points to form a path point set; selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as the end points of the major axis of the ellipsoid; initializing an ellipsoid and iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid and outputting a current ellipsoid space equation; iteratively expanding the ellipsoid to enable the ellipsoid of the ellipsoid to be intersected with the barrier point, outputting a tangent plane of the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation; and acquiring a convex polyhedron constructed by a plurality of tangent planes, and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor. The method of the invention removes the limitation of the geometrical shape and the expansion direction of the flight corridor, and adopts the computed irregular convex polyhedron as the flight corridor, thereby being capable of utilizing the free space to the maximum extent.
Description
Technical Field
The invention relates to the field of aircraft trajectory planning, in particular to a method and a device for generating a flight corridor with a geometric configuration and related components thereof.
Background
In recent years, as motion planning technology is continuously advanced, smooth motion and autonomous obstacle avoidance of a mobile robot in an unknown environment have become mature. The trajectory planning method based on convex optimization can further ensure smooth trajectory, that an actuator does not exceed a physical limit and is far away from an obstacle under the precondition of ensuring optimal energy or time, and has strong application potential. The flight corridor generation technology which is very important in the trajectory planning algorithm is used as a key technology which is directly related to whether the obstacle avoidance trajectory generation problem can be converted into a mathematic convex problem, and the conventional method mainly expands the flight corridor into a cube or a sphere. The basic idea is to expand the path scatter point obtained by front-end planning into a cube or a sphere along the three directions of x-y-z of a navigation coordinate system.
The method cannot fully utilize the free space and obtain the optimal solution, so that the solving quality of the convex problem is reduced, and the success rate of trajectory planning is reduced.
Disclosure of Invention
The invention aims to provide a method and a device for generating a flight corridor with a geometric configuration and related components thereof, and aims to solve the problem of low success rate of track planning of the conventional flight corridor.
In order to solve the technical problems, the invention aims to realize the following technical scheme: a method of generating a geometric flight corridor is provided, comprising:
acquiring a plurality of path points to form a path point set;
selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as the end points of the major axis of the ellipsoid;
initializing the ellipsoid, iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid, and outputting a current ellipsoid space equation;
iteratively expanding the ellipsoid to enable the ellipsoid surface of the ellipsoid to be intersected with the barrier point, outputting a tangent plane of the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation;
and acquiring a convex polyhedron constructed by a plurality of tangent planes, and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor.
In a second aspect, the technical problem underlying the present invention is also to provide a geometrically configured flight corridor arrangement, comprising:
a front section trajectory planning unit: the method comprises the steps of obtaining a plurality of path points to form a path point set;
an ellipsoid construction unit: the method comprises the steps of selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as end points of a major axis of the ellipsoid;
a compressed ellipsoid unit: the system is used for initializing the ellipsoid and iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid and outputting a current ellipsoid space equation;
an expanded ellipsoid unit: the system is used for iteratively expanding the ellipsoid, enabling the ellipsoid of the ellipsoid to be intersected with the barrier point, outputting a tangent plane at the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation;
acquiring a flight corridor unit: and the system is used for acquiring the convex polyhedron constructed by the plurality of tangent planes and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor.
In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the method for generating a flight corridor with a geometric configuration according to the first aspect.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the method for generating a geometric flight corridor according to the first aspect.
The embodiment of the invention discloses a method and a device for generating a flight corridor with a geometric configuration and related components thereof, wherein the method comprises the following steps: acquiring a plurality of path points to form a path point set; selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as the end points of the major axis of the ellipsoid; initializing the ellipsoid, iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid, and outputting a current ellipsoid space equation; iteratively expanding the ellipsoid to enable the ellipsoid surface of the ellipsoid to be intersected with the barrier point, outputting a tangent plane of the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation; and acquiring a convex polyhedron constructed by a plurality of tangent planes, and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor. The method removes the limitation of the geometric shape and the expansion direction of the flight corridor, outputs the convex polyhedron by adopting an ellipsoid iterative compression and iterative expansion mode, and takes the irregular convex polyhedron as the flight corridor, so that the free space can be utilized to the maximum extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for generating a geometrically configured flight corridor according to an embodiment of the present invention;
FIG. 2 is a schematic sub-flow diagram of a method for generating a geometric flight corridor according to an embodiment of the present invention;
FIG. 3 is a schematic sub-flow diagram of a method for generating a geometric flight corridor according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of a geometrically configured flight corridor device provided by an embodiment of the present invention;
FIG. 5 is a schematic sub-block diagram of a geometrically configured flight corridor device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for generating a flight corridor with a geometric configuration according to an embodiment of the present invention;
as shown in fig. 1, the method includes steps S101 to S105.
S101, acquiring a plurality of path points to form a path point set;
s102, selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as end points of a major axis of the ellipsoid;
s103, initializing the ellipsoid, iteratively compressing the ellipsoid to enable the ellipsoid not to contain barrier points, and outputting a current ellipsoid space equation;
s104, iteratively expanding the ellipsoid to enable the ellipsoid surface of the ellipsoid to be intersected with the barrier point, outputting a tangent plane of the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation;
and S105, acquiring a convex polyhedron constructed by a plurality of tangent planes, and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor.
The method removes the limitation of the geometric shape and the expansion direction of the flight corridor, outputs the convex polyhedron by adopting an ellipsoid iterative compression and iterative expansion mode, and takes the irregular convex polyhedron as the flight corridor, so that the free space can be utilized to the maximum extent.
In step S101, the waypoints may be generated by one or more front-end waypoint algorithms selected from a, JPS, RRT, and sequential convex optimization, and a waypoint set is constructed from the generated waypoints; the A-path searching algorithm is a most effective direct searching method for solving the shortest path in the static road network; the JPS algorithm is an improvement on the A-path searching algorithm, namely, a more optimized strategy is provided when nodes are searched in an expanding way, the A-path searching algorithm takes all neighbors of the nodes into consideration when the nodes are expanded, and the JPS algorithm excludes a large number of points which are not interested in by a mode of searching jumping points; the fast-expanding random tree (RRT) algorithm is to search and sample from a certain point and build a graph; the series convex optimization method comprises a gradient descent method, a coordinate descent method, a Newton iteration method and the like; in this embodiment, the generated path points only contain spatial information, so that a route reference can be provided for the back-end trajectory planning through the set of path points.
In step S102, the semimajor axis, semiminor axis and polar radius of the ellipsoid are denoted by a, b and c, respectively, where the parameters of the semimajor axis a, semiminor axis b and polar radius c of the ellipsoid correspond to the parameters of the X-axis, Y-axis and Z-axis, respectively, in the spatial coordinate system.
In one embodiment, in conjunction with FIG. 2, step S103 includes the following steps S201-S203:
s201, initializing the ellipsoid to be a sphere, and designating the radius of the sphere to be
Wherein L represents a distance between adjacent said waypoints;
s202, specifying the semimajor axis of the ellipsoid
Obtaining a nearest barrier point from the center of the ellipsoid through point cloud data, compressing the ellipsoid in a mode that a semishort axis b and a polar radius c are equal to each other, enabling the barrier point to be located on an ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining parameters of the semishort axis b and the polar radius c of the compressed ellipsoid;
s203, continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, and compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid.
In step S201, an ellipsoid is initialized to a sphere, and initial parameters of a semimajor axis a, a semiminor axis b, and a polar radius c are obtained.
Keeping the parameter of the semi-major axis a of the ellipsoid unchanged, and then obtaining a new semi-minor axis b and a new polar radius c of the ellipsoid through an ellipsoid equation according to the nearest barrier point to the sphere center of the ellipsoid, wherein the parameters of the new semi-minor axis b and the polar radius c of the ellipsoid are reduced compared with the initial parameters, so that the ellipsoid compression is specifically represented in the embodiment; in practical process, even if the ellipsoid is compressed according to the nearest obstacle point reaching the center of the ellipsoid, there may be obstacle points inside the compressed ellipsoid, so it is necessary to continue repeating step S202 until no obstacle point is included in the ellipsoid, and output the parameters of the current semiminor axis b and polar radius c.
In another embodiment, with reference to fig. 3, after step S203, the following steps S301 to S304 are further included:
s301, keeping parameters of the semi-major axis a and the semi-minor axis b of the ellipsoid unchanged;
s302, updating the parameters of the semiminor axis c of the ellipsoid into
S303, obtaining a barrier point closest to the spherical center of the ellipsoid through point cloud data, compressing the ellipsoid in a manner of reducing the polar radius c to enable the barrier point to be positioned on the ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining a parameter of the polar radius c of the compressed ellipsoid;
s304, continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid, and outputting a current ellipsoid space equation.
The ellipsoid compressed in steps S201-S202 is a rotational ellipsoid, and the free space contained in the rotational ellipsoid may not be the maximum utilized space, so that the flight corridor can utilize the free space more largely, specifically, the semimajor axis a and the semiminor axis b of the ellipsoid are kept unchanged, and the polar radius c of the ellipsoid after compression is updated to be the same as the polar radius c of the ellipsoid after compression
The ellipsoid after updating the ellipsoid polar radius c intersects with the compressed ellipsoid, so the volume of the ellipsoid is increased, and the ellipsoid is embodied as ellipsoid expansion in the embodiment; then obtaining a barrier point closest to the sphere center of the expanded ellipsoid, and enabling the barrier point to be located on the ellipsoid surface of the compressed ellipsoid, namely, the expanded ellipsoid is compressed again, and then obtaining a new parameter of polar radius c in the compressed ellipsoid through an ellipsoid equation; since there may be some obstacle points inside the new compressed ellipsoid, it is necessary to continue repeating step S302 until there is no obstacle point inside the ellipsoid, and outputting the parameter of the polar radius c of the current ellipsoid.
The ellipsoid obtained after the steps S201-203 and S301-S303 completely excludes the obstacle point inside the ellipsoid, that is, the ellipsoid is the largest spatial ellipsoid without an obstacle inside, and the current ellipsoid spatial equation is calculated by combining the parameters of the current semimajor axis a and semiminor axis b obtained in the step S203 and the parameter of the current polar radius c obtained in the step S303.
In another embodiment, step S104 includes the following steps S401-S402:
s401, obtaining a new obstacle point closest to an ellipsoid of the ellipsoid, keeping the parameter proportion of a semimajor axis a, a semiminor axis b and a polar radius c of the ellipsoid consistent, expanding the ellipsoid to be intersected with the obstacle point, and obtaining a tangent plane and a tangent plane normal vector at the intersection of the ellipsoid and the obstacle point until obtaining a tangent plane and a tangent plane normal vector at the intersection of the ellipsoid and all the obstacle points;
s402, calculating according to the ellipsoid space equation to obtain a tangent plane equation of each tangent plane.
Through the steps S401 and S402, the maximum ellipsoid without obstacles inside can be changed from a regular geometric shape to an irregular geometric shape, namely, a convex polyhedron, in this embodiment, the distance between two adjacent path points is taken as a flight corridor of a flight corridor, namely, the convex polyhedron belongs to the flight corridor of a flight corridor in a path point set, all the flight segments can be solved through the steps, and all the flight segments are combined to form a total flight corridor.
In step S105, the linear inequality is represented by:
wherein i represents the ith flight segment, HjDenotes the tangent plane j, m denotes the total number of planes of the convex polyhedron, P denotes the spatial position, AT＝[a b c]T(ii) a Note that, A isTA, b and c appearing in (a) are all parameters in the tangent plane equation, and the meaning of the parameters a, b and c is different from that of the semimajor axis a, the semiminor axis b and the polar radius c in the present embodiment.
In another embodiment, after step S105, the following step S106 is further included:
s106, converting the linear inequality into a quadratic convex optimization problem to form a rear-end track;
in this embodiment, it is possible to adoptSolving a quadratic convex optimization problem by using a minimumSnap or Model Predictive Control (MPC) algorithm; wherein the flight corridor has been represented by the inequality ATP<b, so the inequality constraint of the convex problem can be written directly; the method can be implemented in an onboard computer and has high practicability.
On the other hand, in the prior art, the space is usually searched by means of a grid map or an euclidean distance field (ESDF) map, so that the complexity of a planning algorithm which does not need to build a map per se is increased, and in the embodiment of the present invention, each convex polyhedron is obtained based on the ellipsoid expansion of each flight segment, so that the flight corridor generation method in the embodiment has stronger applicability; and the generation method is simple in calculation and less in time consumption.
Embodiments of the present invention also provide a geometrically-configured flight corridor device for performing any of the embodiments of the geometrically-configured flight corridor generation method described above.
As shown in fig. 4, a geometric configuration of a flight corridor device 500 includes:
a front-segment trajectory planning unit 501, configured to obtain multiple path points to form a path point set;
an ellipsoid construction unit 502, configured to select two adjacent path points in the set of path points, and use the two path points as end points of a major axis of an ellipsoid to construct an ellipsoid;
a compressed ellipsoid unit 503, configured to initialize the ellipsoid and iteratively compress the ellipsoid, so that no obstacle point is included in the ellipsoid, and a current ellipsoid spatial equation is output;
an expansion ellipsoid unit 504, configured to iteratively expand the ellipsoid, so that an ellipsoid of the ellipsoid intersects with the obstacle point, a tangent plane at the intersection point is output, and a corresponding tangent plane equation is obtained through calculation according to an ellipsoid spatial equation;
and an obtaining flight corridor unit 505, configured to obtain a convex polyhedron constructed by a plurality of tangent planes, and output a linear inequality according to a corresponding tangent plane equation to obtain a flight corridor.
Wherein, in conjunction with fig. 5, the ellipsoid compression unit 503 includes:
the initialization unit 601: initializing the ellipsoid to be a sphere, and designating the radius of the sphere to be
Wherein L represents a distance between adjacent said waypoints;
compression subunit 602: specifying the semi-major axis of said ellipsoid
Obtaining a nearest barrier point from the center of the ellipsoid through point cloud data, compressing the ellipsoid in a mode that a semishort axis b and a polar radius c are equal to each other, enabling the barrier point to be located on an ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining parameters of the semishort axis b and the polar radius c of the compressed ellipsoid;
the removal subunit 603: and continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, and compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid.
The device removes the limitation of the geometric shape and the expansion direction of the flight corridor, outputs the convex polyhedron by adopting an ellipsoid iterative compression and iterative expansion mode, and takes the irregular convex polyhedron as the flight corridor, so that the free space can be utilized to the maximum extent.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Embodiments of the present invention further provide a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the geometric flight corridor generation method as described above when executing the computer program.
Embodiments of the present invention also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which when executed by a processor causes the processor to execute the method for generating a geometrically configured flight corridor as described above.
The specific working processes of the devices, apparatuses, and units may refer to corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions when the actual implementation is performed, or units having the same function may be grouped into one unit, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of generating a geometric flight corridor, comprising:
acquiring a plurality of path points to form a path point set;
selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as the end points of the major axis of the ellipsoid;
initializing the ellipsoid, iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid, and outputting a current ellipsoid space equation;
iteratively expanding the ellipsoid to enable the ellipsoid surface of the ellipsoid to be intersected with the barrier point, outputting a tangent plane of the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation;
and acquiring a convex polyhedron constructed by a plurality of tangent planes, and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor.
2. The method of generating a geometrically-configured flying corridor as recited in claim 1, wherein initializing said ellipsoid and iteratively compressing said ellipsoid such that no obstacle points are contained within said ellipsoid, outputting a current ellipsoid spatial equation, comprises:
initializing the ellipsoid to be a sphere, and designating the radius of the sphere to be
Wherein L represents a distance between adjacent said waypoints;
specifying the semi-major axis of said ellipsoid
Obtaining a nearest barrier point from the center of the ellipsoid through point cloud data, compressing the ellipsoid in a mode that a semishort axis b and a polar radius c are equal to each other, enabling the barrier point to be located on an ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining parameters of the semishort axis b and the polar radius c of the compressed ellipsoid;
and continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, and compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid.
3. The method of generating a geometric flight corridor as claimed in claim 2, wherein said step of obtaining a new obstacle point closest to the center of the ellipsoid from the point cloud data and compressing the ellipsoid according to the new obstacle point until after no obstacle point is included in the ellipsoid comprises:
keeping the parameters of the semi-major axis a and the semi-minor axis b of the ellipsoid unchanged;
updating the parameters of the semiminor axis c of the ellipsoid into
Obtaining a nearest barrier point from the center of the ellipsoid through point cloud data, compressing the ellipsoid in a manner of reducing the polar radius c to enable the barrier point to be positioned on the ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining a parameter of the polar radius c of the compressed ellipsoid;
and continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid, and outputting a current ellipsoid space equation.
4. The method of generating a geometrically-configured flying corridor as recited in claim 1, wherein said iteratively expanding said ellipsoid such that an ellipsoid of said ellipsoid intersects an obstacle point, outputting a tangent plane to the intersection point, and calculating a corresponding tangent plane equation from an ellipsoid spatial equation comprises:
acquiring a new obstacle point closest to the ellipsoid of the ellipsoid, keeping the parameter proportion of the semimajor axis a, the semiminor axis b and the polar radius c of the ellipsoid consistent, expanding the ellipsoid to be intersected with the obstacle point, and acquiring a tangent plane and a tangent plane normal vector at the intersection of the ellipsoid and the obstacle point until acquiring tangent planes and tangent plane normal vectors at the intersection of the ellipsoid and all the obstacle points;
and calculating to obtain a tangent plane equation of each tangent plane according to the ellipsoid space equation.
5. The geometrically-configured flying corridor generating method as claimed in claim 1, wherein said linear inequality is represented by the following equation:
wherein i represents the ith flight segment, m represents the total number of planes of the convex polyhedron, and P represents the spatial position.
6. The method for generating a geometrically-configured flight corridor according to claim 1, wherein the obtaining a convex polyhedron constructed by a plurality of tangent planes and outputting a linear inequality according to a corresponding tangent plane equation after obtaining the flight corridor comprises:
and converting the linear inequality into a quadratic convex optimization problem to form a rear-end track.
7. A geometrically configured flight corridor device, comprising:
a front section trajectory planning unit: the method comprises the steps of obtaining a plurality of path points to form a path point set;
an ellipsoid construction unit: the method comprises the steps of selecting two adjacent path points in the path point set, and constructing an ellipsoid by taking the two path points as end points of a major axis of the ellipsoid;
a compressed ellipsoid unit: the system is used for initializing the ellipsoid and iteratively compressing the ellipsoid to ensure that no barrier point is contained in the ellipsoid and outputting a current ellipsoid space equation;
an expanded ellipsoid unit: the system is used for iteratively expanding the ellipsoid, enabling the ellipsoid of the ellipsoid to be intersected with the barrier point, outputting a tangent plane at the intersection point, and calculating according to an ellipsoid space equation to obtain a corresponding tangent plane equation;
acquiring a flight corridor unit: and the system is used for acquiring the convex polyhedron constructed by the plurality of tangent planes and outputting a linear inequality according to a corresponding tangent plane equation to obtain the flight corridor.
8. The geometrically configured flying corridor device according to claim 7, wherein said compressed ellipsoid unit comprises:
an initialization unit: initializing the ellipsoid to be a sphere, and designating the radius of the sphere to be
Wherein L represents a distance between adjacent said waypoints;
a compression subunit: specifying the semi-major axis of said ellipsoid
Obtaining a nearest barrier point from the center of the ellipsoid through point cloud data, compressing the ellipsoid in a mode that a semishort axis b and a polar radius c are equal to each other, enabling the barrier point to be located on an ellipsoid of the compressed ellipsoid, solving an ellipsoid equation of the compressed ellipsoid, and obtaining parameters of the semishort axis b and the polar radius c of the compressed ellipsoid;
an exclusion subunit: and continuously acquiring a new obstacle point closest to the center of the ellipsoid through the point cloud data, and compressing the ellipsoid according to the new obstacle point until no obstacle point is contained in the ellipsoid.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the geometrically configured flight corridor generation method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the geometrically configured flight corridor generation method as claimed in any one of claims 1 to 6.
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