Unmanned aerial vehicle cooperative search method for moving object with perception capability

A moving target and multi-UAV technology, applied in the field of computer simulation and method optimization

Active Publication Date: 2016-03-23
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the shortcomings of the above-mentioned existing technologies, the present invention proposes a multi-UAV cooperative search method for moving targets with perception capabili

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  • Unmanned aerial vehicle cooperative search method for moving object with perception capability
  • Unmanned aerial vehicle cooperative search method for moving object with perception capability
  • Unmanned aerial vehicle cooperative search method for moving object with perception capability

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Example Embodiment

[0068] In this embodiment, a multi-drone cooperative search method for moving targets with perception capabilities is applied to the search area E of multi-drones cooperatively searching for multi-moving targets, and any grid in the search environment E Denoted as (m,n); m∈{1,2,...,M}, n∈{1,2,...,N}; the side length of each grid is c;

[0069] Suppose there is N in the search area E V UAVs of the same type; the flight speed of any UAV is v and the maximum deflection angle is α;

[0070] Suppose there is N in the search area E T A moving target of the same type with perceptual ability; and at most one moving target can exist in a discrete square grid; N V , N T All are positive integers; UAV uses its own airborne sensors to search for moving targets;

[0071] Suppose there is N in the search environment E B A fixed detection device;

[0072] Define K to represent the total time step of multi-UAV search, and k to represent the k-th time step, k=1, 2,...,K;

[0073] Define P mn (k) repres...

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Abstract

The invention discloses an unmanned aerial vehicle cooperative search method for a moving object with a perception capability. The method is characterized in that the method is carried out according to the following steps: 1, constructing an unmanned aerial vehicle cooperative search moving object model; 2, solving the model to obtain an optimal solution; 3, decoding the optimal solution to obtain a course deflection angle of an unmanned aerial vehicle; 4, according to the course deflection angle, obtaining an optimal path of preplanned q steps, executing the first step in the optimal path, and the unmanned aerial vehicle moving; 5, based on detection information and object motion, updating a search map; and 6, progressively increasing one time step length, finishing a search task when a total planning time domain step length ends, and otherwise, returning to the second step. The method provided by the invention can solve the problem of search for the moving object with the perception capability, improves the search efficiency and more accords with an actual complex dynamic battlefield environment.

Description

technical field [0001] The invention relates to a multi-unmanned aerial vehicle cooperative search method for moving targets with perception capabilities, and belongs to the field of computer simulation and method optimization. Background technique [0002] With the characteristics of low cost, high maneuverability and "zero casualties", UAV is the best choice for harsh, dangerous and boring tasks. In the process of unmanned aerial vehicles (UAVs) performing combat missions, searching and discovering targets in the mission area is the premise of subsequent combat activities. However, performing search missions in complex and dynamic environments requires UAVs to have a high degree of autonomous decision-making ability and coordination. Ability, but the limited load resources of a single UAV, the limitation of sensor detection angle, etc., are often difficult to complete the task, so the research of multi-machine cooperative search becomes particularly important. In recent y...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05B13/04
CPCG05B13/04G05D1/12
Inventor 胡笑旋刘艳红王国强罗贺夏维程八一靳鹏马华伟
Owner HEFEI UNIV OF TECH
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