Unmanned aerial vehicle route planning method based on operator cognitive loads

Abstract

The invention provides an unmanned aerial vehicle route planning method based on operator cognitive loads and relates to the field of unmanned aerial vehicles. The method comprises the following steps: obtaining a circumvention distance function by utilizing an operator cognitive load calculation model and a route price influence parameter calculation model, and further carrying out route planningon the basis of an improved A* algorithm. By adopting the method, a comprehensive value of a man-machine state is adopted as one of parameters of cost functions of route planning, so that an unmannedaerial vehicle can select a relatively radical route to rapidly and efficiently complete tasks at a good man-machine state; at a poor man-machine state, a conservative route can be selected to improve own security of the unmanned aerial vehicle, and thus a task completion rate can be ensured. By adopting the method, the problem that only an enemy threatening area is taken into account, but own states of the unmanned aerial vehicle and states of operators are not considered in conventional route planning, can be solved, the autonomy and the intelligence of the unmanned aerial vehicle are improved, the task completion rate of the unmanned aerial vehicle is increased because of co-combination of man-machine states, and meanwhile, the workload of the operators can be reduced.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a route planning method. Background technique [0002] When facing the threat of obstacles, the UAV needs to interact with the operator and perform route planning to ensure that the UAV can reach the mission area safely. The research on the route planning of the UAV is an important guarantee for the UAV to complete the mission. [0003] However, in the practical application of UAV route planning, the traditional method is generally that the operator manually sets the waypoints or the UAV autonomously performs route planning according to the mission requirements. The method for the operator to manually set waypoints is difficult to achieve when the operator has a heavy workload, and will lead to a decrease in mission efficiency; while the traditional UAV autonomous route planning is often only based on mission requirements and threat areas. Considering the cognitive state...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problem that the existing route planning cannot balance the workload of the operator and the autonomy of the UAV, the present invention proposes a UAV route planning method that considers the cognitive load of the operator. Cognitive state, flexible route selection to realize man-machine cooperation to complete tasks

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