Cluster four-rotor unmanned aerial vehicle path generation method based on task logic scheduling

A quad-rotor UAV, path generation technology, applied in control/regulation systems, vehicle position/route/altitude control, non-electric variable control, etc., can solve problems such as no task allocation, no multi-task logic scheduling, etc.

Active Publication Date: 2021-09-07
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most swarm UAV path generation methods are only for single task or simple formation flight, there is no logical scheduling between multiple tasks, and there is no task assignment

Method used

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  • Cluster four-rotor unmanned aerial vehicle path generation method based on task logic scheduling
  • Cluster four-rotor unmanned aerial vehicle path generation method based on task logic scheduling
  • Cluster four-rotor unmanned aerial vehicle path generation method based on task logic scheduling

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Embodiment Construction

[0067] The present invention is proposed based on the cluster Quadrotor UAV collision avoidance task scheduling logic path generation method, and a portion mainly by environmental simulation algorithm part composition.

[0068] Simulation environment set up by the Gazebo. Gazebo is a powerful 3D simulation software, have good physical simulation performance, its main features include: (1) real dynamics simulation: support a variety of high-performance physics engine, such as DART, ODE, SimBody, Bullet, etc. ; (2) realistic three-dimensional visualization: Gazebo using OGRE (open graphics rendering engine), it is possible to achieve a good visual effect, such as light, shading and material. (3) sensor and plug: support multiple virtual sensor such as a laser range finder, a touch sensor, 2 / 3D camera or the like, through the API to support the user in the form of plug-in design and construction of autonomous sensors, environmental control, and the robot model.

[0069] The present...

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Abstract

The invention relates to a four-rotor unmanned aerial vehicle cluster path generation technology, and aims to enable cluster unmanned aerial vehicles to avoid collision when executing respective tasks, perform task allocation for cluster four-rotor unmanned aerial vehicles and support multiple task modes. Six crowd intelligence modes of safe take-off and landing, cluster networking, formation keeping, formation changing, target approaching and patrol flight detection are included, and logic scheduling of multiple tasks is realized. According to the invention, the cluster four-rotor unmanned aerial vehicle path generation method based on task logic scheduling comprises the steps of first, a cluster unmanned aerial vehicle collision avoidance path generation method; secondly, a cluster unmanned aerial vehicle parallel task allocation method: performing task allocation; and thirdly, a cluster unmanned aerial vehicle task logic scheduling method. The method is mainly applied to an unmanned aerial vehicle formation control occasion.

Description

Technical field [0001] The present invention belongs to the cluster path UAV aircraft technical field generated Quadrotor, particularly relates to a cluster UAV task assignment, task scheduling and collision avoidance path generation method. Background technique [0002] In recent years, four-rotor UAV due to its easy manipulation, high reliability, small size and other advantages, to be more widely used. In civilian areas, street shooting, electrical inspection, traffic monitoring, express delivery, disaster relief and other aspects can be completed by a four-rotor UAV; in terms of military, intelligence and reconnaissance, military attacks against information, airborne early warning, communications relay, etc. task four-rotor UAV played an important role. However, computing power and payload limiting factor when the small four-rotor UAV mission planning, it is often considered a multi-UAV coordination, to coordinate more than four-rotor UAV to complete the task in a limited tim...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 田栢苓张学伟程浩宗群何雷王聪
Owner TIANJIN UNIV
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