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Unmanned aerial vehicle cooperative reconnaissance path planning method based on energy consumption fairness

A technology for path planning and drones, which is applied in the directions of instruments, data processing applications, and predictions. Maximum energy consumption to ensure the effect of smooth completion

Active Publication Date: 2019-11-05
ARMY ENG UNIV OF PLA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method may often cause the energy consumption of a single UAV to be too large to continue to perform reconnaissance missions.

Method used

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  • Unmanned aerial vehicle cooperative reconnaissance path planning method based on energy consumption fairness
  • Unmanned aerial vehicle cooperative reconnaissance path planning method based on energy consumption fairness
  • Unmanned aerial vehicle cooperative reconnaissance path planning method based on energy consumption fairness

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Embodiment

[0085] Such as figure 2 , 3 As shown, a UAV cooperative reconnaissance path planning method based on energy fairness is applied to specific examples to ensure energy fairness among multiple UAVs. The specific application is as follows:

[0086]Consider using multiple drones to conduct reconnaissance on N target points in an area of ​​5km×5km. All drones start flying from the initial position (0,0,50). The minimum distance between UAVs for collision avoidance is 100m. The motion energy consumption Q of the UAV is 13.19J / m, and the hovering power P hv is 237J / s, communication energy parameter e tx It is 10pJ / (m·bit). In this embodiment, three different path planning methods are compared, which are: 1) Each UAV is responsible for the same number of target points for reconnaissance. First calculate a path covering all target points, and then decompose the path according to the principle that the number of tasks is equal; 2) Use the algorithm of the multi-traveling salesman ...

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Abstract

The invention discloses an unmanned aerial vehicle cooperative reconnaissance path planning method based on energy consumption fairness, and the method comprises the steps: calculating a path coveringall target points through employing an algorithm of a traveling salesman problem, and enabling the total energy consumption of the path to be minimum; distributing the N reconnaissance target pointsto K unmanned aerial vehicles by using a path decomposition algorithm and obtaining an initial path of each unmanned aerial vehicle; and forming a closed path of the K unmanned aerial vehicles by adding the initial path of each unmanned aerial vehicle and the path of the unmanned aerial vehicle flying from the starting point to the reconnaissance area. According to the invention, the maximum energy consumption of the unmanned aerial vehicles is effectively reduced, the energy consumption fairness between the unmanned aerial vehicles is improved, and smooth completion of a reconnaissance task is ensured.

Description

technical field [0001] The invention belongs to the field of path planning for unmanned aerial vehicles, and specifically relates to a path planning method for cooperative reconnaissance of unmanned aerial vehicles based on energy fairness. Background technique [0002] In reconnaissance applications, it is more economical and safer to use UAVs to perform reconnaissance missions than manned aircraft. At the same time, high-resolution cameras, sensors, and GPS can be installed on low-cost UAVs, ensuring better area reconnaissance results than ground sensor networks. The traditional reconnaissance method is mainly to deploy static drones to cover the ground network for reconnaissance. However, for a large reconnaissance area, a large number of drones need to be deployed, which will bring greater overhead. Therefore, the use of dynamic UAVs to perform reconnaissance tasks will effectively improve the efficiency of reconnaissance. But this requires planning the path of the dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/06G06Q50/26G01C21/20
CPCG06Q10/047G06Q10/0631G06Q10/06393G06Q50/26G01C21/20Y02D30/70
Inventor 董超秦蓁李艾静田畅何首帅
Owner ARMY ENG UNIV OF PLA
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