Multi-UAV collaborative mission planning simulation system based on vr-forces simulation platform

Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative task planning simulation system based on a VR-Forces simulation platform. The multi-unmanned aerial vehicle cooperative task planning simulation system is characterized by consisting of n unmanned aerial vehicle simulation subsystems, a ground control center simulation subsystem and a task planning simulation scene management subsystem, wherein the unmanned aerial vehicle simulation subsystems are used for simulating the cooperative task planning of unmanned aerial vehicles, and displaying the state information of each unmanned aerial vehicle in real time; the ground control center simulation subsystem is used for simulating the remote control on the unmanned aerial vehicles; the task planning simulation scene management subsystem is used for creating, loading and displaying a task planning simulation scene. Different cooperative task planning scenes of the unmanned aerial vehicles can be rapidly and effectively simulated, the consistency of the simulation entity state information and the simulation time of each unmanned aerial vehicle can be ensured, the task planning simulation scene is displayed in a real-time two-dimensional image way, and the research and development efficiency of the cooperative task planning system of the unmanned aerial vehicles is thus improved.

Description

technical field [0001] The invention relates to multi-UAV control technology, in particular to a simulation platform and a simulation method for multi-UAV collaborative task planning. Background technique [0002] Multi-UAV cooperative mission planning technology refers to the whole process from task determination to task completion, information interaction and coordination between multiple UAVs through network communication, and real-time assignment of tasks to each UAV according to changes in the environmental situation. UAVs, and design a coordinated flight path for each UAV, so that the survival probability and overall task performance of the entire multi-UAVs can be optimal or nearly optimal. [0003] Multi-UAV collaborative mission planning involves many fields such as automatic control, aerodynamics, network communication, information fusion, collaborative task assignment, and collaborative trajectory planning. The constraint relationship between two unmanned aerial ...

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Problems solved by technology

[0004] The traditional multi-UAV cooperative task planning simulation technology is mainly divided into three types: single system simulation, self-developed distributed system simulation and HLA (High Level Architecture, advanced architecture) based distributed system simulation, but each has its own shortcomings. Disadvantage: The single-system simulation does not match the real multi-UAV distributed architecture, and cannot effectively simulate the distributed collaboration between UAVs; the self-developed distributed system simulation is difficult to ensure the unrestricted coordination between the distributed subsystems. The state information of the man-machine simulation entity and the consistency of the simulation time, at the same time, it is necessary to independently realize the underlying communication transmission between the UAV simulation entities, which is difficult and the research and development cycle will be relatively long; HLA is the mainstream technology of distributed system simulation. It has become the standard for IEEE simulation and modeling. HLA-based distributed system simulation does not need to care about the details of underlying communication transmission and simulation operation management. They are automatically completed by the underlying RTI (Run-Time Infrastructure, operating support environment). Users can set The main focus is on the implementation of specific simulation functions, that is, the research and development of federation members. Although the state information and simulation time consistency of each UAV simulation entity can be guaranteed, there are many federation members that need to be developed in complex mission scenarios. cycle will be longer

In addition, the traditional multi-UAV cooperative mission planning simulation technology still lacks real-time display of two-dimensional or three-dimensional images of the multi-UAV cooperative mission planning simulation scene, and the degree of simulation display is not high.

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