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A multi-UAV ship-machine cooperative path planning method

A technology of path planning and aircraft-ship-machine, which is applied in the field of robotics and can solve problems that are not involved

Active Publication Date: 2016-05-11
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the practical problem of multi-target combat deployment, how to give full play to the respective characteristics of ships and UAVs and plan the cooperative combat path of ships and UAVs is a kind of combat path planning problem that needs to be solved urgently. However, there is no solution involving relevant content in the existing methods

Method used

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  • A multi-UAV ship-machine cooperative path planning method
  • A multi-UAV ship-machine cooperative path planning method
  • A multi-UAV ship-machine cooperative path planning method

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Embodiment Construction

[0067] In this embodiment, a multi-UAV ship-machine collaborative path planning method is applied to the formulation of a single-ship and multi-UAV collaborative path planning scheme, and in the process of optimizing it, the multi-UAV ship-machine The formation is recorded as K; the multi-UAV ship formation K contains a ship and is recorded as S, and the ship S is equipped with U drones K U , namely K={S,K U}; The multi-UAV ship-plane formation K cooperates to perform tasks in the designated combat area, set a vertex of the circumscribed square of the designated combat area as the origin S, and set the two adjacent sides of the origin U as the U axis and the Y axis respectively Form a coordinate system 1≤p≤U, in the coordinate system XOY,

[0068] Record the U drone as 1≤k≤U, Indicates U drone K U The kth UAV in UAV, U UAV K U The maximum voyage of is recorded as D={D 1 ,D 2 ,...D k ,...,D U},D k Indicates the kth UAV the maximum voyage;

[0069] Such as figure 1...

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Abstract

The invention discloses a multi-UAV (unmanned aerial vehicle) helicopter and warship cooperating path planning method. The method comprises the steps of 1, calculating a route cost matrix according to the euclidean distance between a target node and a tactical node; 2, modeling the multi-UAV helicopter and warship cooperating path planning through the solved route cost matrix; 3, creating coding rules to enable corresponding between the solution of the built model and the position vector of particles in a particle group, and initializing the solution of the model; 4, iterating the initial solution by the improved particle group algorithm to obtain the optimal solution; 5, treating the scheme corresponding to the optimal solution as the optimal scheme for multi-UAV helicopter and warship cooperating path planning. With the adoption of the method, the multi-UAV helicopter and warship cooperating path planning structure can be determined, and the multi-UAV helicopter and warship cooperating path planning scheme can be quickly provided, so that the efficiency, reasonability and accuracy of preparing the cooperating route planning scheme can be improved, and as a result, the war power of a fleet can be increased.

Description

technical field [0001] The invention relates to a particle swarm optimization (PSO)-based collaborative path planning method for multi-unmanned aerial vehicles and a single ship, which belongs to the field of robot technology. Background technique [0002] Unmanned Aerial Vehicle (UAV) plays an irreplaceable and important role in completing complex and dangerous tasks and reducing casualties in future maritime operations. The combat effectiveness of drones is inseparable from the support of the mothership they rely on. Therefore, in the mission planning of the fleet, it is particularly important to realize the coordinated mission planning of UAVs and ships. [0003] Among the existing cooperative mission planning methods for UAVs and ships, they mainly focus on solving problems such as cooperative communication, command, and navigation. In the practical problem of multi-target combat deployment, how to give full play to the respective characteristics of ships and UAVs and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 马华伟朱益民胡笑旋罗贺靳鹏夏维王国强
Owner HEFEI UNIV OF TECH
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