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Unmanned aerial vehicle three-dimensional track multi-target particle swarm global planning method

A multi-objective particle swarm and global planning technology, which is applied in the field of UAV 3D trajectory multi-objective particle swarm global planning, can solve the problems of enlarged search space and difficulty in 3D UAV trajectory planning.

Active Publication Date: 2019-04-16
CHINA UNIV OF MINING & TECH
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Problems solved by technology

Compared with the traditional two-dimensional trajectory planning problem, the UAV three-dimensional trajectory planning problem becomes more difficult due to the larger search space

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Embodiment Construction

[0065] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] A kind of unmanned aerial vehicle three-dimensional track multi-target particle swarm global planning method described in the present invention comprises the following steps:

[0067] (1) Establish an environmental model: establish an environmental model according to the flight environment, and use digital map technology when processing the flight environment of the drone. The digital map technology discretely separates the continuous height of the terrain and stores it in the grid in digital form Among them, the distance between the grids is divided according to the needs of practical problems; the natural terrain information within the range of the drone's flight area, the center position of the threat information processed by the equivalent terrain, and The threat range of the threat.

[0068](2) Establish a traject...

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Abstract

The invention discloses an unmanned aerial vehicle three-dimensional track multi-target particle swarm global planning method, which comprises the following steps: (1) establishing an environment model according to a flight environment, and adopting a digital map technology when the flight environment of an unmanned aerial vehicle is processed; (2) establishing a flight path planning model according to the environment model established in the step (1); and (3) applying a particle swarm optimization technology to the flight path planning model in the step (2), and giving an improved multi-target backbone particle swarm global flight path planning algorithm with few control parameters. The method has the advantages that the three-dimensional global multi-target flight path planning model ofthe unmanned aerial vehicle is established, three index functions of flight path length cost, threat cost and concealment cost and corresponding constraint requirements are given, a multi-target particle swarm global planning method with few control parameters is provided, and the practicability of path planning is enhanced.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a multi-objective particle swarm global planning method for three-dimensional flight tracks of unmanned aerial vehicles. Background technique [0002] Track planning refers to planning a flight path from the starting point to the target point that meets the performance of the aircraft itself and pays the least cost under the specified constraints. In recent years, with the widespread attention of UAVs in the military field, the performance of its trajectory planning system has been continuously improved. Specifically, UAV trajectory planning mainly refers to planning the optimal flight path of UAV according to its own performance, external environmental interference factors and other dynamic or kinematic constraints without human intervention. Make sure it completes its assigned tasks safely and efficiently. Trajectory planning is an important part ...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20Y02T10/40
Inventor 张勇葛美星巩敦卫郭一楠孙晓燕张婉秋
Owner CHINA UNIV OF MINING & TECH
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