Track planning method for multi-unmanned plane system in three-dimensional environment

A multi-UAV, track planning technology, applied in three-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, it can solve the problem that the artificial potential field law is easy to fall into the local optimum, and the heuristic function limits the global optimum. issues of superiority

Inactive Publication Date: 2016-09-07
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

The A* algorithm is simple to calculate and easy to implement, but the selection of the heuristic function limits the global optimali

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  • Track planning method for multi-unmanned plane system in three-dimensional environment
  • Track planning method for multi-unmanned plane system in three-dimensional environment
  • Track planning method for multi-unmanned plane system in three-dimensional environment

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[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] figure 1 It is a flowchart of the steps of the present invention, and the method of the present invention is as follows:

[0044] Step 1: Model the flight environment.

[0045] The natural boundary in the area is complicated. First, the convex hull calculation is performed on the complex obstacle boundary of the digital map, and the obtained convex hull is used to approximate the obstacle area to reduce the complexity of environmental modeling.

[0046] UAV flight three-dimensional space is expressed as {(x,y,z)|0≤x≤X max , 0≤y≤Y max , 0≤z≤Z max }, where X max , Y max ,Z max They are the upper bounds of the three directions of x, y, and z in the three-dimensional space. The trajectory planning needs to encode the search space. Here, a grid thre...

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Abstract

The invention discloses a track planning method for a multi-unmanned plane system in a three-dimensional environment, and belongs to the technical field of unmanned plane track planning. The method aims at the unmanned plane track planning characteristics. The method includes the steps of obtaining elevation and threatening information of an unmanned plane flying environment, generating a three-dimensional grid map of the flying environment, conducting multi-unmanned plane track planning with an improved heredity algorithm, conducting smooth processing for planned tracks by using a spline curve B, and finally forming a track that satisfies unmanned plane movement constraints. Optimal flying paths for multi-unmanned planes can be determined and planed through a heredity algorithm, and task completion efficiency is improved. The track planning method is applicable to the fields of unmanned plane reconnoiter, monitoring and rescue path planning.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle track planning, in particular to a track planning method for a multi-unmanned aerial vehicle system in a three-dimensional environment. Background technique [0002] In recent years, unmanned aerial vehicles (UAVs) have attracted the attention of military, commercial and civilian use due to their rapid response, ability to carry various types of sensors, real-time transmission of images, detection of high-risk areas, and unmanned operation. . UAV trajectory planning is an important field of UAV research. Its purpose is to plan an optimal collision-free flight trajectory that satisfies the constraints in an environment with obstacles according to the mission objectives. At present, a single UAV can plan a trajectory that meets the mission requirements in a simple environment. However, as the scope of the target area expands and the number of tasks increases, it will take a long tim...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 贾广芝曹科才岳东
Owner NANJING UNIV OF POSTS & TELECOMM
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