A multi-track planning method for swarm unmanned aerial vehicles based on two-dimensional grid division

Abstract

The invention belongs to the technical field of unmanned plane multi-flight path planning technology, and more specifically relates to a grouping unmanned plane multi-flight path planning method basedon two-dimensional grid diversion. The grouping unmanned plane multi-flight path planning method based on two-dimensional grid diversion comprises following steps: a two dimensional space is dividedinto a plurality of square grids through grid method; an unmanned plane threat constraint model is established; quantum ant colony optimization initialization is carried out, quantum pheromone initialization is carried out, and quantum ants are placed at an initial node; path search is completed by the quantum ants based on mechanisms such as tabu search and quantum pheromone updating node selective probability; updating of quantum rotation angle is carried out based on the integrate-cost of an optimal path; a simulated quantum rotation gate is adopted for updating of quantum pheromone information; the output optimal path is stored in a flight path set; it is determined that whether the number of the flight paths in the flight path set is capable of reaching the largest flight path number;the flight paths in the flight path set are provided for unmanned planes to select based on the length. According to the invention, the a grouping unmanned plane multi-flight path planning method used for acquiring a plurality of paths for selection is invented based on combination of heuristic search mechanisms of traditional ant colony algorithm with quantum computing and tabu search.

Description

technical field

[0001] The invention belongs to the technical field of multi-track planning for unmanned aerial vehicles, and in particular relates to a multi-track planning method for clustered unmanned aerial vehicles based on two-dimensional grid division. Background technique

[0002] UAV track planning refers to designing the optimal flight trajectory of UAV from the starting point to the target point according to the needs of the flight mission, which is required to meet the constraints of the maneuverability of the UAV and minimize the comprehensive cost. The trajectory planning of the UAV is the flight plan for the successful completion of the mission. Reasonable planning enables UAVs to effectively avoid threats, improve survival probability and combat efficiency. In the actual trajectory planning process, due to the complexity of the actual environment, it is difficult for UAVs to obtain all threat and environmental information in advance, and these factors may al...

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