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Cluster four-dimensional trajectory planning design method under multi-target point simultaneous arrival constraint

A technology of trajectory planning and design method, which is applied in the space-time four-dimensional trajectory design of drone clusters reaching multiple target points at the same time, and the field of cluster four-dimensional trajectory planning and design. Distribution, low energy consumption effect

Active Publication Date: 2019-09-20
BEIHANG UNIV
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Problems solved by technology

[0004] Aiming at the difficulties and deficiencies in the existing UAV multi-target task trajectory planning, the present invention proposes a cluster four-dimensional trajectory planning and design method under the simultaneous arrival constraint of multiple target points to solve the problem of the complexity of the aircraft tracking trajectory, optimize The task allocation of the aircraft minimizes the energy consumption of the aircraft cluster to perform tasks

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  • Cluster four-dimensional trajectory planning design method under multi-target point simultaneous arrival constraint
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  • Cluster four-dimensional trajectory planning design method under multi-target point simultaneous arrival constraint

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Embodiment Construction

[0057] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0058] Step 1: Task Allocation Optimization

[0059] In the task of UAVs reaching multiple targets at the same time, it is the first step to assign different flight mission targets to each UAV. In order to make the energy consumption of all UAVs as low as possible and the total cost of performing tasks as low as possible, we need to make an optimal task allocation to make the sum of the paths of UAVs the shortest. This problem is similar to the assignment problem in the field of operations research, which can be abstracted essentially as the minimum matching problem for a given bipartite graph. From the previous assumptions, it can be known that this problem is a target balance assignment problem, so we use the traditional Hungarian algorithm to complete the optimization of task assignment.

[0060] The Hungarian algor...

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Abstract

The invention discloses a cluster four-dimensional trajectory planning design method under multi-target point simultaneous arrival constraint. The method comprises the steps that 1 a traditional Hungarian algorithm is used to complete task allocation optimization; and 2 safety trajectory planning is carried out; first by defining the anti-collision hazard relationship of two drones and a dangerous section on a drone flight path, the method of the boundary point of the anti-collision hazard zone of the drones is proposed; then the minimum separation distance method is combined, and a cluster anti-collision method based on greedy thought is proposed to realize speed distribution of the drones. The method provided by the invention solves the problem of complexity of the tracking track of an aircraft, optimizes the task assignment of the aircraft, and minimizes energy consumed by task execution of an aircraft cluster.

Description

technical field [0001] The invention relates to a cluster four-dimensional trajectory planning and design method under the constraint of simultaneous arrival of multiple target points, in particular to a space-time four-dimensional trajectory design method for a drone cluster to simultaneously reach multiple target points. The design method is mainly divided into two steps: task allocation optimization and safe trajectory planning. The optimization of task allocation enables the UAV group to reach the target point at the same time with the minimum energy consumption. The planning of the safe trajectory ensures that the UAVs will not collide with each other in flight. The design method can be applied to any UAVs such as UAVs and missiles. The invention belongs to the field of track planning. Background technique [0002] With the development of the information age, cluster trajectory mission planning has been widely used in many aspects, and the multi-aircraft cooperative mi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 全权陈恩民董程博杨坤
Owner BEIHANG UNIV
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