Track planning method and device for unmanned aerial vehicles to visit multiple target points

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle access multi-target point track planning method and device. The method comprises: obtaining position information of an unmanned aerial vehicle and multiple target points, the unmanned aerial vehicle ground velocity course angle dispersion and motion parameters of the unmanned aerial vehicle and a wind field; according to the position information, combining the ground velocity course angle dispersion and the preset genetic algorithm, and constructing an initial population; according to the initial population and the parameters of the wind field, determining the flight state of the unmanned aerial vehicle and the navigation time of a track segment completed by the unmanned aerial vehicle, and obtaining the navigation time corresponding to a chromosome in the initial population according to the navigation time of the track segment and an SUAV-VS-DVRP model; and based on the genetic algorithm, performing intersection and variation processing of the flight path of each Dubins in the initial population, and selecting the Dubins flight path with the shortest navigation time as an optimal flight path after the preset number of iteration times is reached. According to the embodiment of the invention, the combination of the unmanned aerial vehicle track planning problem and the actual flight environment of the unmanned aerial vehicle is performed to allow the optimal flight path scheme obtained through planning to be better than a scheme of the unmanned aerial vehicle with constant speed.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a method and device for trajectory planning of unmanned aerial vehicles visiting multiple target points. Background technique [0002] At present, UAV (Unmanned Aerial Vehicle) has a wide range of applications in the military and civilian fields, and can complete various types of tasks such as target reconnaissance, target tracking, intelligence collection, post-earthquake rescue, and geological exploration. For example, when multiple UAVs cooperate to reconnaissance targets, it is necessary to allocate the target reconnaissance to each UAV most reasonably, and plan the optimal flight path for it. This problem is a joint optimization problem of task allocation and trajectory planning subject to multi-factor constraints, and it is also a non-deterministic problem. [0003] With the deepening of UAV research, environmental factors are gra...

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Problems solved by technology

[0005] An object of the embodiments of the present invention is to solve the problem that the model cannot accurately simulate the actual motion state of the UAV due to the fact that the speed of the UAV is set to be constant when performing track planning in the prior art, and thus cannot give the best result. good track planning

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