A method and a device for distributing surveying and mapping tasks of multiple unmanned aerial vehicles

Abstract

The invention relates to a method and a device for distributing surveying and mapping tasks of multiple unmanned aerial vehicles. The method comprises the steps of obtaining the attribute informationof a multi-UAV surveying and mapping system; according to the acquired attribute information of multi-UAV surveying and mapping system, determining the cooperative surveying and mapping task model ofmulti-UAV; establishing a heterogeneous division of labor population corresponding to the set of unmanned aerial vehicles; solving the heterogeneous ant colony system to obtain the optimal path of theheterogeneous ant colony under the current number of iterations; updating the pheromone of heuristic heterogeneous ant colony algorithm and obtaining the task assignment scheme by iterative solution.The invention adopts an intelligent planning method to solve the problem of constructing the surveying and mapping task plan of multiple unmanned aerial vehicles (UAVs), so as to improve the directionality of the searching process. Heterogeneous ant colony technology is used to decompose the solution task into several platforms, and distributed solution is realized by information exchange mechanism, which improves the efficiency of solution. The probability of infeasible solution is reduced; on the basis of the current optimal solution, the local search is carried out in a certain search range to avoid falling into the local optimal solution.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-unmanned aerial vehicle mission plan construction method. Background technique [0002] At present, UAV technology has developed rapidly, and it has been widely used in civil fields such as agriculture, geology, meteorology, electric power, surveying and mapping, and military fields such as reconnaissance and detection, communication relay, electronic interference and target attack. Taking the surveying and mapping tasks performed by drones as an example, with the continuous improvement of the complexity of the surveying and mapping environment and the diversity of task requirements, it is difficult for a single drone to meet the surveying and mapping tasks due to the limitation of the number and performance of sensors; in addition, a single unmanned The robustness of surveying and mapping tasks performed by drones is poor, that is, when the requirements ...

AI Technical Summary

Problems solved by technology

[0008] The enumeration method is only suitable for surveying and mapping tasks with a small number of UAVs and tasks. The branch and bound and cutting plane methods require the solution problem to have linear characteristics, and the computational complexity is high, which is not suitable for UAVs and tasks with a small number of tasks. Multiple surveying task plan construction issues

At present, the genetic algorithm method is widely used in the generation and adjustment of mission plans in various research fields, but when using the genetic algorithm method to solve the problem of mission plan generation and adjustment, there are the following deficiencies: When solving the problem of surveying and mapping mission plan construction, the algorithm design is not enough. For specific problems, although it has the characteristics of strong versatility, it is easy to lead to blind search, resulting in low efficiency in searching for the optimal solution; genetic algorithms can only be solved in a centralized manner, lacking an interactive mechanism, and it is difficult to achieve distributed solutions, resulting in real-time The genetic algorithm method lacks a constraint processing mechanism. In each iteration process, when a constraint violation occurs, the penalty function method is generally used, but its design method is too cumbersome

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