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Unmanned aerial vehicle group path planning method

A technology for path planning and drones, applied in the field of drones, can solve the problem that a single high-quality waypoint is not learned

Active Publication Date: 2020-06-09
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Most of the traditional particle swarm optimization methods learn and update all the dimensions of the particles, and apply it to the path planning problem to learn the entire route. There may be a situation where a single high-quality waypoint in the entire route is not learned.

Method used

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  • Unmanned aerial vehicle group path planning method
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  • Unmanned aerial vehicle group path planning method

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Experimental program
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Embodiment 1

[0082] In the first step, the drone swarm obtains information about the unknown environment, including the location of the starting point and target point in the unknown environment, the coordinates of obstacles, and possible enemy radar and missile risks, and knows the flying targets and missions of the drone swarm Etc., these are to consider these factors when planning the path of the UAV group to ensure the flight safety of the UAV group. At the same time, when planning the path of the UAV group, it is also necessary to consider the performance limitations or requirements of the UAV itself. For example, the UAV cannot fly beyond its maximum horizontal turning angle and maximum vertical pitch angle, and the UAV's During the flight, in order to perform missions to carry out reconnaissance strikes against the enemy, the flight altitude cannot exceed a certain altitude, that is, the maximum reconnaissance strike altitude.

[0083] The second step is to propose an evaluation method...

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Abstract

The invention discloses an unmanned aerial vehicle group path planning method which comprises the following steps: firstly, acquiring information of an unknown environment, including positions of a starting point and a target point, coordinates of an obstacle, possible radar and missile risks and the like; when the unmanned aerial vehicle group plans a path, needing to consider the performance ofthe unmanned aerial vehicle, such as a deflection angle, a pitch angle and a flight height; on the basis, enabling the unmanned aerial vehicle to select a path preferentially through calculation of aparticle swarm optimization algorithm, and achieving path planning of the whole unmanned aerial vehicle group. According to the invention, path planning of the unmanned aerial vehicle group in a denserisk environment can be realized, so that the unmanned aerial vehicle group can fly efficiently to cooperatively complete tasks. Based on the path planning of the unmanned aerial vehicle group, the research on the path planning method of the unmanned aerial vehicle group is carried out from the two aspects of improving the safety and high efficiency of the air traffic system, and the method has important significance in ensuring the flight safety of the unmanned aerial vehicle, reducing the flight cost, increasing the airspace capacity and improving the operation efficiency of the air trafficsystem.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a path planning method for an unmanned aerial vehicle group. Background technique [0002] In recent years, with the development of drone technology, the application fields of drones have become more and more extensive, such as drones for logistics and transportation, film and television shooting in the commercial field, and drone spraying in the agricultural field. Pesticides are used for drone surveillance inspections and post-disaster rescue in the field of prevention and control. At the same time, the coordinated task completion of the drone swarm has also become a trend. Compared with a single unmanned aerial vehicle, the unmanned aerial vehicle group has the characteristics of high efficiency and fast speed to complete tasks in cooperation. UAV groups can focus their goals to complete unified tasks, or allocate tasks to complete them together to achieve compl...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 杜文博曹先彬徐亮郑磊
Owner BEIHANG UNIV
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