Multi-unmanned aerial vehicle complex task planning method

A complex task and multi-UAV technology, applied in the field of complex task planning, to achieve the effect of flexible planning, simple principle and strong practicability

Inactive Publication Date: 2017-07-07
XIAMEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to address the deficiencies of the prior art and provide a multi-UAV complex task planning method for solving multi-UAV complex tasks and adopting the artificial intelligence method of behavior tree

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0037] Such as figure 1 As shown, the present invention includes two parts, the flight task decomposition process and the flight behavior library design process. Among them, the flight task decomposition process is the first link. For a single or multiple tasks performed by a single UAV or multiple UAVs, a structural feature library (root node, combination node, and leaf node) of the behavior tree is established. , decompose and execute the tasks according to the corresponding logical relationship. The flight behavior library design process is the second link. According to the flight behavior of the UAV required by the mission, set up a basic behavior library containing basic flight behaviors, and set up a custom flight behavior library containing special missions. The process of writing XML files is the third link. The behavior tree structure obtai...

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Abstract

The invention relates to a multi-unmanned aerial vehicle complex task planning method and belongs to the unmanned aerial vehicle field. The method includes a flight task decomposition flow, a flight behavior library design flow and an XML file editing flow; according to the task decomposition flow, behavior tree decomposition is performed on a multiple-task under execution, and behavior tree decomposition is performed on obtained single tasks; according to the flight behavior library design flow, basic behavior library and customized behavior library design is performed according to flight behaviors required in the single tasks; and according to the XML file editing flow, a customized XML format language is adopted to edit behavior tree knots obtained through decomposition. With the multi-unmanned aerial vehicle complex task planning method adopted, a user can be facilitated to plan a whole task process; task decomposition is performed according to task levels; task execution is performed according to actual conditions; and the practical problem of multi-unmanned aerial vehicle complex tasks can be solved. The method has the advantages of simple principles, flexible planning, high practicability, excellent implementation effects and the like.

Description

technical field [0001] The invention relates to unmanned aerial vehicles, in particular to a complex task planning method for multiple unmanned aerial vehicles. Background technique [0002] With the popularity of UAVs and the rapid development of related technologies, the top-level mission planning system is a prerequisite for ensuring the success of UAV missions, and an important means of how to flexibly configure and optimize the resources of the entire UAV system. Under the premise of the existing task, it is necessary to formulate the plan and use the corresponding planning method according to the number of resources, task type, initial state and constraint conditions to decompose the task into a series of behavior sequences, and then execute by judging the conditions corresponding actions to achieve the purpose of completing the task. A mission is usually composed of different behaviors through complex timing and causal constraints. Problems such as resource allocatio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 徐扬罗德林
Owner XIAMEN UNIV
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