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Route planning method for multiple unmanned aerial vehicle cooperative tracking under multiple constraints

A multi-UAV, path planning technology, applied in the control of finding targets, vehicle position/route/altitude control, non-electric variable control, etc. Threats/obstacles UAV physical constraints, inability to achieve coordinated tracking of multiple UAV targets, etc.

Active Publication Date: 2018-09-14
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to address the defects of the background technology, research and design a path planning method for multi-constraint multi-UAV cooperative tracking, and solve the problem that the existing multi-UAV path planning does not consider threats / obstacles and UAV physical constraints , so that it is impossible to realize the problem of cooperative tracking of targets by multiple UAVs under various constraints
This method effectively solves the problem that the existing multi-UAV path planning does not consider threats / obstacles and UAV physical constraints, so as to realize the cooperative tracking of multi-UAV targets in complex environments

Method used

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  • Route planning method for multiple unmanned aerial vehicle cooperative tracking under multiple constraints
  • Route planning method for multiple unmanned aerial vehicle cooperative tracking under multiple constraints
  • Route planning method for multiple unmanned aerial vehicle cooperative tracking under multiple constraints

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Embodiment Construction

[0062] The present invention mainly adopts the method of simulation experiment to verify, and all steps and conclusions are verified correctly on Matlab2010. The present invention will be further described in detail with regard to specific embodiments below.

[0063] Step 1: Initialize the system parameters for the geometric structure of the multi-UAV tracking target at a certain moment.

[0064] Step 2: Use the local extended Kalman filter to calculate the state estimation of each UAV to the target. First use expression (1) to calculate the one-step state prediction of the target state, then use expression (3) to determine the one-step prediction error covariance matrix, then use expression (5) to calculate the Kalman gain, and then use expression (8) to calculate One-step state prediction of the target state, and then use the formula (7-9) to get the state estimation of each UAV to the target, and finally use the expression (10) to get the error covariance matrix of each UA...

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Abstract

The invention discloses a route planning method for multiple unmanned aerial vehicle cooperative tracking under multiple constraints and can help overcome a problem that unmanned aerial vehicle physics and threat / obstacle constraints are not taken into consideration in conventional multiple unmanned aerial vehicle cooperative tracking. The method is characterized in that distributed fusion rules are used for fusing local filtering estimation of an object by all unmanned aerial vehicles, and an A optimal rule is used for establishing a cost function; as for the threat / obstacle constraints, thecost function is corrected via a penalty function, a steepest descent method is used for rapidly solving an optimization problem, and flight of the unmanned aerial vehicles can be facilitated via constraints over maximum turning angles of the unmanned aerial vehicles. The method can be help effectively solve a problem of multiple unmanned aerial vehicle cooperative tracking under thread / obstacle and physics constraints, and therefore cooperative tracking of the object performed by the multiple unmanned aerial vehicles in a complex environment can be realized.

Description

technical field [0001] The invention belongs to the technical field of path planning, and relates to multi-UAV collaborative tracking and radar information processing technology research. Background technique [0002] Because the unmanned aerial vehicle (UAV) equipped with on-board radar has the characteristics of strong flexibility, high maneuverability, low cost and low-altitude penetration, it is widely used in surveillance, tracking and rescue. When tracking the target, multiple UAVs can observe the target from different perspectives to improve the estimation results. However, due to the complex actual environment, it is of great significance to improve the survivability of UAVs under threats / obstacles. In short, UAV, as a new means of target detection, tracking and attack, has broad development space in both civilian and military fields. [0003] For a distributed multi-UAV collaborative tracking system, each UAV observes the target through different viewing angles, a...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05D1/10
CPCG05D1/104G05D1/12
Inventor 易伟孟令同时巧文鸣孔令讲袁野王尧
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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