Group mobility model construction method based on spiral line

Abstract

The invention provides a group mobility model construction method based on a spiral line, which is used for solving the problems of unsmooth track and flight node collision of an existing model in search and rescue scenes. According to the scheme, the method comprises the steps of 1) designing an initial position of each node in a group; 2) selecting corresponding mobility parameters to enable each node in the group to keep consistent mobility characteristics in flight; 3) enabling each node in the group to search outwards according to the respective spiral line track until the maximum searchradius is reached; and 4) enabling each node to search towards the center of the area according to the respective spiral line track so as to complete the complete coverage of the whole disaster area.According to the method, the smoothness of the flight path is ensured, and meanwhile, the whole disaster area is quickly and comprehensively searched; in addition, node collision of the whole group inflight can be avoided; and the scheme can be used for searching and rescuing victims in disaster scenes and providing temporary aerial base stations for the victims.

Description

technical field [0001] The invention belongs to the field of mobility control, and relates to an aerial group mobility model, in particular to a helix-based group mobility model construction method, which can be used for searching and rescuing victims in disaster scenes, and sending to the area Victims provide temporary air base stations. Background technique [0002] The main task of the air group mobility model is to accurately simulate the mobility characteristics of the air group and control the real-time position of each node in the air group. The evaluation of the group mobility model in the air is mainly based on two points, one is the overall smoothness of the generated group trajectory, and the other is that each node in the group cannot collide in flight. The overall smoothness of swarm trajectories is mainly affected by aerodynamic and mechanical constraints, and additionally, swarm collision avoidance capability is mainly determined by the real-time relative pos...

AI Technical Summary

Problems solved by technology

The disadvantages of its existence are, first, each node in the group may have a sharp change in the direction of motion, which leads to the unevenness of the entire trajectory

Second, due to the randomness of the movement, each node in the group may collide with other nodes during the movement

However, these two methods have the following disadvantages: first, due to the same helical trajectory, when the nodes behind the group move more than the front nodes, collisions may occur; second, they cannot take advantage of the unique advantages of the group in the air , to further shorten the time of the entire search task

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