Multi-unmanned plane formation flight path planning method based on hungarian algorithm

Abstract

The invention aims to provide a multi-unmanned plane formation flight path planning method based on a hungarian algorithm. The distance between the initial position of the unmanned aerial vehicle andthe target point forms a distance matrix. The distance matrix is transformed, zero elements are selected to be marked, and the number of the zero elements is counted, whether the optimal solution of the assignment problem is met or not is judged, and the zero element in the matrix is covered with the minimum. The minimum value among all elements without the minimum coverage is found out, and the value from all uncovered elements is subtracted, and the elements in all the marked columns are added with the value, so that the position of the original zero element is not changed. A result matrix corresponding to the optimal solution can be obtained by repeatedly executing the above steps. Transformation is carried out to obtain the optimal solution, and after the distribution is finished, thesimulation flight is carried out, so that whether the collision exists or not is judged, and otherwise, the obstacle avoidance is needed. The method has the advantages of being high in practicability,simple in model and small in calculation amount, short in time of formation design and flight path planning, and is high in efficiency.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and relates to a multi-unmanned aerial vehicle formation track planning method based on the Hungarian algorithm. Background technique [0002] With the development of modern science and technology and the continuous increase of military and political needs, in many cases a single UAV can no longer meet the mission requirements, so multi-UAV formation technology has become a research hotspot. At the same time, for civilian use, UAV formation flight performances have also been a hot topic in recent years. The number of UAVs flying in formation has grown from a few dozen at the beginning to thousands now. The key technical issues of UAV formation flight mainly include formation design, aerodynamic coupling, formation dynamic adjustment, track planning and formation flight control strategy, etc. The Hungarian algorithm is a combinatorial optimization algorithm used to solve assignme...

AI Technical Summary

Problems solved by technology

The basic characteristics of the existing technology are that the model is relatively complex, the amount of calculation is large, the planning time is long, and it is easy to stagnate, and the formation design and track planning are basically carried out separately, and the design cycle is very long