A multi-track planning method for swarm unmanned aerial vehicles based on two-dimensional grid division
A technology for track planning and unmanned aerial vehicles, which is applied in the field of multi-track planning of swarm unmanned aerial vehicles based on two-dimensional grid division, and can solve the problems of small computational load and unsuitability for swarm combat systems, etc.
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[0045] The present invention will be further described below in conjunction with accompanying drawing:
[0046] The invention relates to a multi-track planning method for cluster UAVs based on two-dimensional grid division. In order to solve the problem of track planning under the combat situation of UAV clusters, the method proposes a method for obtaining multiple optional paths. A trajectory planning method for swarm unmanned aerial vehicles.
[0047] Such as figure 1 and 2 Shown, the detailed flow process of the method proposed in the present invention is as follows:
[0048] Step 1. Use the grid method to plan the two-dimensional space into several square grids. Let the abscissa range of the two-dimensional space be [x min ,x max ], the ordinate range is [y min ,y max ], the grid size is G, then each column has h=(y max -y min ) / G grids, each row has v=(x max -x min ) / G grids, the total number of grids is n=h·v. Take the grid node in the lower left corner of ea...
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