High-efficient autonomous exploration method, system, and terminal for UAVs

A high-efficient autonomous exploration method for UAVs, wherein Using heuristic waypoint generation method, creating a complete global path based on waypoints, including waypoints in both lateral and vertical directions;

• subsequently, adopting nonlinear optimization to generate smooth, collision-free, and dynamically feasible local planning trajectories by B-spline curves;
• finally, when detecting obstacles, using sliding a window strategy to adjust the trajectories quickly;
• specifically include:
• S1, heuristic waypoints generating:
• setting an exploration scope and a waypoint spacing, and generating waypoints by waypoint generation algorithms;
• S2, global path planning:
• after generating heuristic waypoints, an A* algorithm is used to generate a global planning path;
• S3, real-time positioning, and mapping:
• using point clouds for real-time positioning and mapping;
• S4, local B-spline trajectories generating:
• using B-spline parameterization methods to generate local trajectories;
• S5, real-time obstacle avoidance and dynamic feasibility constraining:
• optimizing the trajectories to achieve fast convergence, generating smooth, collision-free, and dynamically feasible trajectories;
• S6, local real-time replanning:
• using time sliding windows for local replanning;
• and
• S7, flight controlling:
• using UAV control algorithms for controlling UAVs robustly;
• the step S1 specifically comprising:
• (1) exploration scope setting:
• setting an exploration scope of a sample site according to actual requirements, including defining a length, a width and a height dimensions;
• (2) waypoint spacing setting:
• generating 3D waypoints by traversing an entire exploration space, and setting step sizes in three directions respectively:
• length, width, and height;
• the step sizes in three directions are determined according to actual situation;
• (3) waypoint generation algorithms:
• traversing and exploring entire unknown space by using different waypoint generation strategies in an exploration space:
• firstly, using an idea of lateral layering, first generating waypoints in a plane with a certain step size and completely traversing the entire space, and then generating waypoints in next plane based on a step size of altitude direction until the entire space is completely traversed;
• secondly, adopting an idea of vertical undulation, the generated waypoints are undulated intermittently, wherein a maximum and a minimum scope of interval undulations can be set to be consistent until the entire space is completely traversed;
• thirdly, in order to obtain more complete data for a single tree, a series of waypoints are generated through an idea of spiral ascent.