Path planning method for continuous monitoring of large-scale environments by multiple unmanned aerial vehicles

Abstract

A continuous monitoring path planning method for a large-scale environment by multiple unmanned aerial vehicles, the invention realizes the maximization of the environmental coverage efficiency by scientifically planning the monitoring paths of the aerial vehicles. For a large-scale environment, it is very difficult to directly calculate the optimal coverage path to ensure the integrity of the coverage of the entire environment and collect as accurate and reliable information as possible during the monitoring process. This method is based on the idea of ​​block optimization. First, the overall environment is divided into several small area sub-areas, and the optimal path covering the area is calculated in each sub-area. By setting specific constraints, the paths in each sub-area It can be finally connected into an overall path, that is, the final monitoring path of the aircraft to the entire environment. In addition to the coverage effect, this method also considers factors such as the energy and time consumed by the flight, and strives to plan an efficient monitoring path suitable for aircraft tracking. The method of the invention is verified to be effective and feasible through simulation and experiments.

Description

technical field [0001] The invention belongs to the technical field of the application of multiple unmanned aerial vehicles to the collection of environmental information, and has significant advantages especially for large-scale dynamic environments. Background technique [0002] In recent years, there has been an increasing demand for information collection and continuous monitoring of large-scale environments. For example, in scenarios such as meteorological monitoring, disaster relief, crop growth monitoring, pesticide spraying and weeding, theories and methods of environmental coverage monitoring are required , the typical application is to monitor the vast forest environment in forest fire prevention and monitoring [1]-[2] . As we all know, the forest plays an indispensable role in the earth's ecosystem. It not only regulates the water cycle, purifies the air and other ecological functions, but also provides abundant and sustainable natural resources. However, due to ...

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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of continuous monitoring of large-scale environments by multiple unmanned aerial vehicles, and provide a monitoring path planning method to improve the efficiency of environmental monitoring, prevent forest fires, and protect forest resources

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