Multi-UAV (unmanned aerial vehicle) helicopter and warship cooperating path planning method

Abstract

The invention discloses a multi-UAV (unmanned aerial vehicle) helicopter and warship cooperating path planning method. The method comprises the steps of 1, calculating a route cost matrix according to the euclidean distance between a target node and a tactical node; 2, modeling the multi-UAV helicopter and warship cooperating path planning through the solved route cost matrix; 3, creating coding rules to enable corresponding between the solution of the built model and the position vector of particles in a particle group, and initializing the solution of the model; 4, iterating the initial solution by the improved particle group algorithm to obtain the optimal solution; 5, treating the scheme corresponding to the optimal solution as the optimal scheme for multi-UAV helicopter and warship cooperating path planning. With the adoption of the method, the multi-UAV helicopter and warship cooperating path planning structure can be determined, and the multi-UAV helicopter and warship cooperating path planning scheme can be quickly provided, so that the efficiency, reasonability and accuracy of preparing the cooperating route planning scheme can be improved, and as a result, the war power of a fleet can be increased.

Description

technical field [0001] The invention relates to a particle swarm optimization (PSO)-based collaborative path planning method for multi-unmanned aerial vehicles and a single ship, which belongs to the field of robot technology. Background technique [0002] Unmanned Aerial Vehicle (UAV) plays an irreplaceable role in completing complex and dangerous tasks and reducing casualties in future maritime operations. The combat effectiveness of drones is inseparable from the support of the mothership they rely on. Therefore, in the mission planning of the fleet, it is particularly important to realize the coordinated mission planning of UAVs and ships. [0003] Among the existing cooperative mission planning methods for UAVs and ships, they mainly focus on solving problems such as cooperative communication, command, and navigation. In the practical problem of multi-target combat deployment, how to give full play to the respective characteristics of ships and UAVs and plan the coope...

AI Technical Summary

Problems solved by technology

In the practical problem of multi-target combat deployment, how to give full play to the respective characteristics of ships and UAVs and plan the cooperative combat path of ships and UAVs is a kind of combat path planning problem that needs to be solved urgently. However, there is no solution involving relevant content in the existing methods

Images