Task collaborative visual navigation method of two unmanned aerial vehicles

Abstract

The invention provides a task collaborative visual navigation method of two unmanned aerial vehicles. The method comprises the following steps: determining an interactive communication mode between a first unmanned aerial vehicle and a second unmanned aerial vehicle, wherein the first unmanned aerial vehicle is used to perform visual positioning, and the second unmanned aerial vehicle is used to perform environment identification route planning; performing fusion processing on visual positioning information generated by the first unmanned aerial vehicle and route information generated by the second unmanned aerial vehicle to generate respective flight control instruction information of the first and second unmanned aerial vehicles at all times; transferring the flight control instruction information to the corresponding first and second unmanned aerial vehicles respectively by the interactive communication mode so as to perform visual navigation safe flight. The method provided in the invention can effectively control information transmission volume of real-time videos and image transmission in cooperative visual navigation of the unmanned aerial vehicles, has advantages of good match capability and good reliability, and is an effective technology for implementing cooperative visual navigation of unmanned aerial vehicles cluster to avoid risks, barriers and the like.

Description

technical field [0001] The invention relates to the technical field of visual navigation of unmanned aerial vehicles, in particular to a visual navigation method for task coordination of two unmanned aerial vehicles. Background technique [0002] An important application trend of UAVs is clustering, that is, a group composed of multiple UAVs performs tasks together, and has extensive demands in the fields of reconnaissance / surveillance, communication relay, electronic countermeasures, disaster prevention, and emergency search and rescue. The advantages of UAV swarms are: greater control range, mutual complementarity, task sharing, etc. In visual navigation, there are problems such as the need for many sensing devices, the large amount of visual information data, and the high real-time requirements of data fusion processing. The cooperative visual navigation of multiple UAVs has become an important development trend, so the task coordination between multiple UAVs has become ...

AI Technical Summary

Problems solved by technology

There are still problems in complex and unknown environments or when performing complex tasks. In addition to the required visual sensing equipment, which is generally more heavy and consumes too much energy, the algorithm of computer vision is also quite complicated, which is easy to be used in the guidance and control of UAVs. bottleneck

In the cooperative visual navigation of multiple UAVs, in order to solve the problems of large and heavy visual sensing equipment and excessive energy consumption, it is necessary for UAVs to cooperate simultaneously in space and time, and the requirements for task coordination are high.

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