METHODS AND SYSTEMS FOR AUTONOMOUS GENERATION OF SHORTEST LATERAL PATHS FOR UNMANNED AERIAL SYSTEMS

摘要

Methods and systems for autonomous generation of shortest lateral paths for unmanned aerial systems are described. An example method includes defining an area between a source point and a target point; identifying a first no flight zone within the area; identifying a second no flight zone outside of the area; estimating a first computation time to determine a first lateral path between the source point and the target point, the estimating to consider the first no flight zone, the estimating not to consider the second no flight zone; comparing the first computation time to a reference computation time; in response to the first computation time not satisfying a threshold of the reference computation time, modifying the first no flight zone to be a third no flight zone; and estimating a second computation time to determine a second lateral path between the source point and the target point, the estimating to consider the third no flight zone.

主权项

1. A method, comprising:
accessing an initial scenario including a source point, a target point, and a no flight zone; determining a computation time for identifying a lateral path that avoids the no flight zone, the computation time being associated with a number of vertices of the no flight zone, determining whether the determined computation time satisfies a threshold of a reference computation time; determining a buffer area surrounding the no flight zone, wherein the buffer area is defined by an offset distance from a perimeter of the no flight zone; constructing a visibility graph including lateral paths between the source point and the target point, the lateral paths not passing through the no flight zone, the lateral paths connecting vertices of the no flight zone; and identifying a first lateral path of the lateral paths, the first lateral path being shorter than others of the lateral paths.