Target assignment method used in cooperative search of multi-unmanned aerial vehicles with communication restriction

A target allocation, multi-UAV technology, applied in the field of cooperative control and communication, can solve the problem of not considering the impact of communication constraints target allocation and so on

Inactive Publication Date: 2013-08-14
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] This method does not consider the impact of communication constraints on target

Method used

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  • Target assignment method used in cooperative search of multi-unmanned aerial vehicles with communication restriction
  • Target assignment method used in cooperative search of multi-unmanned aerial vehicles with communication restriction
  • Target assignment method used in cooperative search of multi-unmanned aerial vehicles with communication restriction

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] The present invention comprises the following steps:

[0047] Assuming that the step size of the algorithm is t, the types of multi-UAVs participating in the task are the same, the flying speed is the same and kept constant as v, and the minimum turning radius is R min . The steps performed by the algorithm are as follows (see attached figure 1 ):

[0048] Step 1: Set the number and initial position of the UAV and the target, the maximum detection distance of the UAV, the communication distance, the communication angle and the number of discovered targets, and set the initial state of the UAV and the target to be idle.

[0049] The initial position of the UAV is (x i ,y i )(i=1,2,…,n), where n is the number of drones;

[0050] The position of the target is (x j ,y j )(j=1,2,...,m), where m is the number of targets;

[0051] The maximum d...

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Abstract

The invention provides a target assignment method used in cooperative search of multi-unmanned aerial vehicles with communication restriction. The method is used for controlling the multi-unmanned aerial vehicles to search targets of an unknown region, under the circumstance of considering influences from communication restraint condition, target assignment is performed on searched targets, the multi-unmanned aerial vehicles for target assignment fly to targets for target confirmation, and the multi-unmanned aerial vehicles are enabled to accomplish searching and confirming tasks to a plurality of targets in a collaborative manner.

Description

technical field [0001] The invention relates to a method for searching targets in an unknown area by using multiple unmanned aerial vehicles, and performing target allocation for the searched targets, which belongs to the technical field of cooperative control and communication. Background technique [0002] The problem of multi-UAV cooperative target assignment is one of the important contents of multi-UAV cooperative control. It is a special case of task assignment and can be applied to personnel search and positioning in disasters. The research at home and abroad is very extensive. Qian Yanping and others proposed a target allocation method based on the contract network in "UAV collaborative target allocation method based on the contract network". Firstly, the mathematical model of the target allocation problem is established. On the basis of the initial allocation, the target allocation method based on the contract network is used, and the load factor parameter is introd...

Claims

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Application Information

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IPC IPC(8): G05D1/12
Inventor 符小卫李建高晓光刘学全
Owner NORTHWESTERN POLYTECHNICAL UNIV
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