A Path Planning Method for Multi-UAV Cooperative Tracking under Multiple Constraints

Abstract

The invention discloses a path planning method for multi-unmanned aerial vehicle cooperative tracking under multiple constraints, which overcomes the problem that the existing multi-unmanned aerial vehicle cooperative tracking does not consider the UAV physical and threat / obstacle constraints. It is characterized by firstly using the distributed fusion criterion to fuse the local filtering estimates of the target by each UAV, and then using the A-optimal criterion to establish a cost function, and then for the threat / obstacle constraints, the penalty function is used to modify the cost function and apply The steepest descent method quickly solves this optimization problem, and finally constrains the maximum turning angle of the UAV to facilitate the flight of the UAV. It effectively solves the problem of multi-UAV cooperative tracking of targets under threats / obstacles and physical constraints, thus realizing the cooperative tracking of multi-UAV targets in complex environments.

Description

technical field [0001] The invention belongs to the technical field of path planning, and relates to multi-UAV collaborative tracking and radar information processing technology research. Background technique [0002] Because the unmanned aerial vehicle (UAV) equipped with on-board radar has the characteristics of strong flexibility, high maneuverability, low cost and low-altitude penetration, it is widely used in surveillance, tracking and rescue. When tracking the target, multiple UAVs can observe the target from different perspectives to improve the estimation results. However, due to the complex actual environment, it is of great significance to improve the survivability of UAVs under threats / obstacles. In short, UAV, as a new means of target detection, tracking and attack, has broad development space in both civilian and military fields. [0003] For a distributed multi-UAV collaborative tracking system, each UAV observes the target through different viewing angles, a...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to address the defects of the background technology, research and design a path planning method for multi-constraint multi-UAV cooperative tracking, and solve the problem that the existing multi-UAV path planning does not consider threats / obstacles and UAV physical constraints , so that it is impossible to realize the problem of cooperative tracking of targets by multiple UAVs under various constraints

This method effectively solves the problem that the existing multi-UAV path planning does not consider threats / obstacles and UAV physical constraints, so as to realize the cooperative tracking of multi-UAV targets in complex environments

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