Multi-UAV(Unmanned Aerial Vehicle) cooperation path planning method based on ant colony algorithm

Abstract

The invention discloses a multi-UAV (Unmanned Aerial Vehicle) cooperation path planning method based on an ant colony algorithm. The method comprises the following steps of (1) analyzing a UAV flight environment, and building environment modeling based on a Voronoi diagram; (2) calculating consideration of an edge in the environment modeling based on the Voronoi diagram; (3) utilizing the ant colony algorithm to plan an initial path for a UAV; (4) smoothing the initial path of each UAV to judge whether cooperation is achieved or not, and carrying out corresponding operation according to the results. According to the multi-UAV cooperation path planning method based on the ant colony algorithm provided by the invention, multiple different kinds of unmanned aerial vehicles are mutually cooperated, intelligently and autonomously adapt to complicated and changeable war environment factors, and dynamically adjust self-strategies so as to cooperatively accomplish the combat mission.

Description

Technical field: [0001] This method is applied to the fields of UAV flight control, obstacle avoidance, shortest path search, path smoothing processing, and load balancing, etc., and specifically involves the construction of Voronoi diagrams and the setting of edge weights, the ant colony algorithm to search for the shortest path, and the path Carry out technologies such as smoothing and synergy. Background technique: [0002] UAV technology is a hot research field of military and civilian aircraft in recent years. It is used for military purposes such as battlefield reconnaissance and surveillance, positioning and calibration, and damage assessment, such as border patrol, environmental detection, aerial photography, resource exploration, disaster monitoring, and public security monitoring. , logistics and transportation and other civil purposes have a wide range of applications. Compared with manned aircraft, UAVs can perform low-altitude flights with low visibility and lo...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a multi-UAV cooperative path planning method based on the ant colony algorithm, which solves the difficulty of cooperative operations in the existing multi-UAV flight process. If multiple UAVs are required Simultaneously start from their respective starting points and arrive at the corresponding target points at the same time to complete a task together

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