The invention discloses an unmanned aerial vehicle cruising tracking control system based on controlled variable parameterization and a control method. An unmanned aerial vehicle flies in cruising airspace, an aerial vehicle cruising height sensor, an aerial vehicle velocity sensor and an aerial vehicle channel obliquity sensor are switched on to obtain aerial vehicle cruising height deviation, velocity and aerial vehicle channel obliquity information, an internal controlled variable parameterization optimization algorithm is automatically executed by an aerial vehicle MCU according to set requirements on the aerial vehicle cruising height deviation , the velocity and the aerial vehicle channel obliquity information to obtain a control strategy with which the unmanned aerial vehicle can reach a set cruising trajectory within a preset time, and the obtained control strategy is converted to a control instruction by the aerial vehicle MCU and transmitted to an aerial vehicle thrust control module and a pitch angle control module to be executed. According to the system, an optimized control strategy can be rapidly obtained according to different cruising height deviation, velocity andaerial vehicle channel obliquity states, and therefore the unmanned aerial vehicle can reach a designated cruising trajectory state smoothly within a preset time.

Unmanned aerial vehicle cruising tracking control system based on controlled variable parameterization and control method

The invention relates to a method and device for determining a flight path, a storage medium and electronic equipment, and the method comprises the steps: determining a block path of an aircraft froma flight start point to a flight end point from a plurality of blocks according to the flight start point and the flight end point of the aircraft and a topological graph of the plurality of blocks ina target space, wherein the flight starting point and the flight ending point are located in a target space, a plurality of spatial points with position information exist in the target space, and theblock comprises a spatial point group obtained after grouping the plurality of spatial points; determining entrance and exit information of each block in the block path according to the position information of the spatial point and the block path; and determining a flight path of the aircraft according to the position information of the space point, the position information of the flight startingpoint and the flight ending point, the block path and the entrance-exit information. According to the method, the upper-level path composed of the blocks can be determined in the space firstly, and then the paths in the blocks in the upper-level path are refined, so that the calculation amount in the flight path searching process is reduced, and the flight path planning efficiency is improved.

Method and device for determining flight path, storage medium and electronic equipment

The invention discloses an underwater cleaning robot path planning method and system based on a hull model. The underwater cleaning robot path planning method based on a hull model includes the steps:according to the hull model, dividing the hull cleaning operation area into a plurality of unit planes; performing subarea path planning on the obtained plurality of unit planes to obtain the subareapath on each unit plane; performing track optimization and connection on the subarea path on the each unit plane to obtain the off-line path; inputting the obtained off-line path to a robot to operate; and performing path tracking on the robot, and according to the path tracking error, performing compensation correction. The underwater cleaning robot path planning method and system based on a hull model can optimize the cleaning track by performing subarea path planning on the model, optimizing connection and performing correction according to the path tracking error, thus greatly reducing the operating time, effectively improving the cleaning effect, being higher in the universality, and being suitable for various hulls.

Underwater cleaning robot path planning method and system based on hull model

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Underwater cleaning robot path planning method and system based on hull model