Collaborative flight path intelligent planning method for formation flying of unmanned planes under dynamic environment

Abstract

The invention discloses a collaborative flight path intelligent planning method for formation flying of unmanned planes under a dynamic environment. The method comprises the steps of offline intelligent planning of a formation pre-flying collaborative flight path of the unmanned planes, online replanning of the flight path for avoiding threats, collaborative rebuilding of a formation team and the like. The offline intelligent planning of the formation pre-flying collaborative flight path of the unmanned planes adopts an intelligent planning method based on a Voronoi graph and an ant colony algorithm, and an integrated optimal pre-flying flight path with collaborative time can be planned off line for the unmanned plane. The replanning of the online flight path adopts an intelligent flight path planning method based on an RRT (Rail Rapid Transit) algorithm, and quick flight path correction can be provided when the unmanned plane formation meets a sudden threat. The collaborative rebuilding of the formation team adopts a method combining unmanned plane formation member flying speed adjustment and coiling maneuvering. According to the method, pre-flying collaborative flight path offline planning and generation of online replanned flight path are provided for the unmanned plane formation, a collaborative rebuilding scheme is provided, and the online rebuilding problem of unmanned plane formation flying cooperativity is solved.

Description

technical field [0001] The invention relates to a collaborative track planning method for unmanned aerial vehicle formation flight, in particular to an intelligent track planning method in a dynamic environment, and belongs to the field of track planning. Background technique [0002] UAV formation flight is to arrange multiple UAVs with autonomous functions in a three-dimensional space according to a certain structural form to ensure the stability of the formation during the flight process, but it can be dynamically adjusted according to changes in external conditions and mission requirements. . The success rate of UAV formation missions and the ability to resist emergencies are much higher than those of single-plane flight, and it is currently being used more and more widely. [0003] The trajectory planning of UAV formation flight includes offline trajectory planning and online trajectory planning. Before the flight, various algorithms are used to generate the optimal tr...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for intelligent planning of UAV formation flight cooperative trajectory in a dynamic environment, which is used to solve the problem of trajectory re-planning and collaborative reconstruction when UAV formation flight encounters sudden threats online

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