Cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency

Abstract

The invention discloses a cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency. UAV data, obstacle data and target point data are firstly set to generate a digital map; then a simultaneous arrival constraint is executed, and the flight speed of each UAV is obtained; a communication latency constraint is executed, and the spacing range of the UAVs is obtained; an A-* algorithm is executed, and the next path of each UAV is obtained; and whether conditions of a collision avoidance constraint and a communication distance restriction are satisfied or not is judged, and whether the UAVs arrive a target point or not is finally judged. By adopting the cooperative real-time path planning method, the multiple UAVs can take off from different places and simultaneously arrive at the same target point under the condition of communication latency and can avoid obstacles on the way; the collision among the UAVs is avoided; and meanwhile, the communication among the UAVs can be kept.

Description

technical field [0001] The invention relates to a real-time route planning method for multiple unmanned aerial vehicles to take off from different locations and fly to the same target point while avoiding obstacle areas. Related fields include path planning, cooperative control and communication technology. Background technique [0002] Multi-UAV collaborative route planning is the most basic task in multi-UAV collaborative planning. It is the basis for multi-UAV to perform other tasks such as collaborative search and collaborative tracking. It can be applied to personnel search, The location, survey and detection of the accident site have been extensively studied at home and abroad. Xi Yongjun and Zhou Deyun proposed a multi-UAV cooperative route planning algorithm based on the improved A* algorithm in the paper "Research on Multi-UAV Cooperative Attack Path Planning". Firstly, the framework of the multi-UAV optimal cooperative attack path planning system is constructed; s...

AI Technical Summary

Problems solved by technology

[0003] This algorithm does not consider the influence of communication constraints on the route planning algorithm, and ensuring communication is the basic element of multi-UAV cooperation

If multiple UAVs are too far apart during the flight, they may be out of the communication range of the UAV communication platform, resulting in the inability to communicate between UAVs, and also unable to carry out message transmission and data exchange.

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