An improved algorithm based on fast extended random tree (RRT) was proposed to solve the 3d route planning problem of uav in complex environment. Firstly, the planning space modeling is carried out according to the threat factors of flight route. Secondly, in view of the large randomness of THE RRT algorithm, the heuristic distance function is introduced as the basis for the selection of nodes to be expanded, so as to increase the probability of nodes near the target being selected as nodes to be expanded, and improve the way of generating new nodes in the random tree to accelerate the convergence speed of the algorithm. Then, UAV dynamics constraints were incorporated into the new node to meet the flight path requirements. Finally, b-spline curve was used to optimize the smoothness of the initial route curvature discontinuity problem. Simulation results show that the improved algorithm has certain advantages in planning speed and route length, and can effectively solve the problem of UAV 3D route planning.
Multispectral cameras of filter array are susceptible to interference streaks at the edges of each band due to the imaging mechanism and process characteristics. Aiming at the problem of interference streaks of multispectral image strips, a new method of grey correction algorithm for stripe edge is proposed. Firstly, determine the coordinates of the effective area of each strip image for strip image cropping; Secondly, a grey scale change function is fitted using the grey scale of pixels in the undisturbed area at the edges of each strip, and the grey scale of pixels in interference area at the edges of the strip is predicted to obtain the fitted pixel grey scale values; Then, the ratio of the grey value of each fitted pixel to the mean grey value of the true pixel is used as the grey correction factor for the corresponding row to eliminate edge interference stripes. Finally, the grey-scale processed images of each strip are stitched together to obtain a consistent grey-scale image of each single band. The theoretical analysis and experimental results show that this method can not only effectively solve the problem of grey-scale interference at the edges of the multispectral images of filter array, and can maintain the spectral information characteristics of the features to the maximum extent.
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