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虽然Realsense 3D摄像头可以帮助无人机在空中识别障碍物位置,但仍需要一种寻路算法为无人机提供路径规划。B~*寻路算法相比较于其它算法可以多分支进行路径规划,省去了在服务器端进行寻路搜索所消耗的大量时间,一定程度上解决了常规寻路的效率问题。本文就无人机基于B~*寻路算法在空中实现自主避让这一功能进行探析。
Although the Realsense 3D camera can help UAVs identify obstacles in the air, there is still a need for a path-finding algorithm to provide path planning for the UAV. Compared with other algorithms, B ~ * routing algorithm can be more branch-path planning, eliminating the need for a large amount of time spent searching for pathfinding on the server side, to some extent, to solve the efficiency of conventional routing. In this paper, UAV based on B ~ * routing algorithm in the air to achieve this function to avoid autonomy.