A Track Planning Method Based on Ant Colony Algorithm

An ant colony algorithm and track planning technology, applied in the field of unmanned aerial vehicles, can solve the problems of reducing fuel consumption, complex operation process, and starting point requirements, and achieve the effect of saving fuel

Active Publication Date: 2021-04-06
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The trajectory planned by the existing trajectory planning method cannot reduce fuel consumption; and when planning the trajectory, there is a requirement for the starting point of the trajectory, and the operation process is complicated

Method used

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  • A Track Planning Method Based on Ant Colony Algorithm
  • A Track Planning Method Based on Ant Colony Algorithm
  • A Track Planning Method Based on Ant Colony Algorithm

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Embodiment Construction

[0042] The present invention will be described in further detail below in conjunction with specific examples, but the embodiments of the present invention are not limited thereto.

[0043] See figure 1 , figure 1 It is a flow chart of an ant colony algorithm-based track planning method provided by an embodiment of the present invention, including:

[0044] Step 1. Set the flyable area A, specify the designated task monitoring area in the flyable area A as S, and divide LxN drones among L ants within the maximum turning angle constraint range to predict the target node at the next moment, L> 0, N > 0;

[0045] Step 2, initialize the initial position and the initial deflection angle of the LxN unmanned aerial vehicle, and calculate the coverage rate at the initial moment according to the initial position and the initial deflection angle;

[0046] Step 3, obtaining the globally optimal ant and its pheromone according to the predicted target node and the initial deflection angl...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and specifically relates to a track planning method based on an ant colony algorithm. The method of the present invention uses the deflection angle of the flying position of the unmanned aerial vehicle group as an independent variable, and takes the accumulated coverage area of ​​the unmanned aerial vehicle group at a specified time as the Algorithm fitness function, avoiding obstacles through farsightedness, adding allowable error of going straight and trying to keep going straight to save fuel. By organically combining the trajectory planning problem with the ant colony algorithm, a new trajectory planning problem that is different from the traditional area coverage optimal trajectory planning can be solved, that is, the starting point and end point of the trajectory are not specified, and no one is required. The problem of trajectory planning is to achieve the maximum continuous surveillance coverage of the designated area when the fleet flies on this trajectory.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a flight path planning method based on an ant colony algorithm. Background technique [0002] Unmanned aerial vehicle (UAV, Unmanned Aerial Vehicle) is the abbreviation of unmanned aircraft, which has the characteristics of low risk, low cost and good concealment, and occupies an important application position in both military and civilian fields. UAV trajectory planning is to plan the optimal or suboptimal flight trajectory for the UAV under the premise of comprehensively considering the arrival time, fuel consumption, threat and flight area of ​​the UAV to ensure the successful completion of the flight. Task. In the practical application of UAV reconnaissance, some specific tasks require the surveillance of the designated area with maximum coverage. In order to pursue high-efficiency applications, it is necessary for the ground command center to p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/004
Inventor 王彤王美凤吴佳丽王瑛琪
Owner XIDIAN UNIV
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