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Method and device for searching Markov movement target by using unmanned aerial vehicle

A moving target, Markov technology, applied in non-electric variable control, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of unable to meet the needs of moving target search track planning, high search cost, etc. question

Active Publication Date: 2018-09-28
HENAN UNIVERSITY +1
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  • Summary
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art, the object of the present invention is to provide a Markov moving target UAV search method and device, aiming to solve the problem that the existing traditional algorithm cannot satisfy the moving target search navigation when it is applied to the UAV search task. trajectory planning requirements or expensive search problems

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  • Method and device for searching Markov movement target by using unmanned aerial vehicle
  • Method and device for searching Markov movement target by using unmanned aerial vehicle
  • Method and device for searching Markov movement target by using unmanned aerial vehicle

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specific Embodiment 1

[0078] An embodiment of the present invention provides a Markov moving target UAV search method, including:

[0079] In the target step, after receiving the search task, the probability model of the Markov moving target is constructed, so as to obtain all possible states and their probability distributions during the movement of the Markov moving target;

[0080] UAV step, to obtain all possible states and their probability distributions during the UAV search process;

[0081] The construction step is to construct a Markov model for the behavior prediction of the UAV under the search task according to all possible states and their probability distributions during the UAV search process and the Markov moving target movement process, and establish a Markov-based decision-making Multi-Stage Heuristic Strategy Iteration Algorithm (MDP-MSHPI);

[0082] In the planning step, the multi-stage heuristic strategy iteration algorithm based on Markov decision is used to obtain the search...

specific Embodiment 2

[0133] Such as Image 6 As shown, the embodiment of the present invention provides a Markov moving target UAV search device, including:

[0134]The target module 201 is configured to construct a probability model of the Markov moving target after receiving the search task, so as to obtain all possible states and probability distributions thereof during the movement of the Markov moving target;

[0135] The unmanned aerial vehicle module 202 is used to obtain all possible states and probability distributions thereof during the unmanned aerial vehicle search process;

[0136] The construction module 203 is used to construct a Markov model for predicting the behavior of the UAV under the search task according to all possible states and probability distributions during the UAV search process and the Markov moving target movement process, and establishes a Markov model based on the Markov movement. A multi-stage heuristic strategy iteration algorithm for Cove decision-making;

[...

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Abstract

The invention discloses a method and device for searching a Markov movement target by using an unmanned aerial vehicle. The method comprises the following steps: after receiving a searching task, acquiring all possible states and probability distribution thereof in a movement process of the Markov movement target and in a searching process of the unmanned aerial vehicle; constructing a Markov model for predicting behaviors of the unmanned aerial vehicle under the searching task, establishing a multi-stage heuristic strategy iteration algorithm based on a Markov decision; and acquiring a searching behavior strategy with the highest benefit, and planing the optimal searching flight path of the unmanned aerial vehicle. The shortcomings that a traditional searching algorithm is lack of severemathematical definition on the movement law of the searched target to cause high searching cost is overcome, the virtual target position which is about to be searched by the unmanned aerial vehicle ata next time is determined according to the current flight state of the unmanned aerial vehicle and the existing probability distribution of the Markov movement target in a searching region at the moment, the searching behavior strategy with the highest benefit is obtained, and can be used for searching the movement target, and the target can be searched successively by the low searching cost.

Description

technical field [0001] The invention relates to the field of control of unmanned aerial vehicles, in particular to an unmanned aerial vehicle search method and device for a Markov moving target. Background technique [0002] Today, the power of technology permeates all walks of life. As a new technological force, the application prospects of drones in various industries have attracted much attention. Among them, the application of unmanned aerial vehicle (UAV) in search and rescue in military target search system has been valued by countries all over the world. Track planning is an important issue that must be considered when UAVs are used in target search systems. [0003] The track planning of the UAV target search system includes two categories, namely, the track planning of the stationary target search system and the track planning of the moving target search system. At present, the research results of UAV stationary target search system track planning are relatively ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 陈立家王赞汪晓群薛政钢管禹赵瑞杰冯帅栋冯子凯王敬飞赵成伟袁蒙恩
Owner HENAN UNIVERSITY
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