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A Path Planning Method for Unmanned Aerial Vehicle Swarm

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: 2020-08-11
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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  • A Path Planning Method for Unmanned Aerial Vehicle Swarm
  • A Path Planning Method for Unmanned Aerial Vehicle Swarm
  • A Path Planning Method for Unmanned Aerial Vehicle Swarm

Examples

Experimental program
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Effect test

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 UAV group path 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 carry out reconnaissance strikes against the enemy, it must not exceed a certain flying altitude, that is, the maximum reconnaissance strike altitude.

[0083] The second step is to propose an evaluation method for the entire flight path of the ...

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Abstract

The invention discloses a path planning method for UAV swarms. First, it is necessary to obtain information about the unknown environment, including the positions of starting points and target points, coordinates of obstacles, possible radar and missile risks, etc.; at the same time, UAV swarms are planning The path also needs to take into account the performance of the UAV itself, such as deflection angle, pitch angle, flight height, etc.; route plan. The invention can realize the path planning of the unmanned aerial vehicle group in a dense risk environment, so that the unmanned aerial vehicle group can fly efficiently and cooperate to complete tasks. The present invention revolves around the path planning of the UAV swarm, starting from the two aspects of improving the safety and efficiency of the air traffic system, and carrying out the research on the path planning method of the UAV swarm, which is helpful for ensuring the flight safety of the UAV, reducing the flight cost, and increasing the airspace capacity. It is of great significance to improve the operational efficiency of the air traffic system.

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 comple...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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