Multi-zone searching method and apparatus

Abstract

The invention discloses a multi-zone searching method and apparatus, and relates to the technical field of unmanned aerial vehicle (UAV) control. The multi-zone searching method and apparatus can provide a simple and efficient implementation method for solving the problem of multi-zone searching for multiple UAVs. The multi-zone searching method includes the steps: determining the distance betweena plurality of search zones within a set range in order, and determining a searching area of the UAVs at a unit interval according to the scanning speed of the UAVs and the maximum flight speed of the UAVs; when determining that an unallocated zone to be searched exists in the set range, determining that the UAV which completes the search task at the earliest at present as an allocation UAV, andallocating the corresponding zone to be searched corresponding to the maximum time ration to the UAV which completes the search task at the earliest at present; and determining that the vertex corresponding to the longest side of the zone to be searched as a search starting point, wherein the allocation UAV performs scanning according to a reciprocating searching mode of parallel scanning until the scanning path passes through the vertex farthest from the longest side, and the width of the parallel scanning is determined according to the scanning width of the UAV.

Description

Technical field [0001] The invention relates to the field of unmanned control technology, and more specifically to a multi-area search method and device. Background technique [0002] The continuous improvement of the autonomous capabilities of unmanned aerial vehicles (UAVs) and the increasing complexity of the application environment have made a single UAV unable to meet the needs of actual tasks. Cooperative control of multiple unmanned aerial vehicles (UAVs) to achieve greater overall efficiency has become The new hot spot of UAV research. As an important research content of multi-UAV collaborative control, multi-UAV collaborative search refers to the process of reasonable task allocation and flight path planning for multiple UAVs, so that multi-UAV collaboration can complete search tasks with high efficiency and high quality. Multi-unmanned collaborative search has significant advantages such as high efficiency and strong task fault tolerance. It has been widely used in tar...

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Problems solved by technology

[0004] Combining the research status of the UAV search problem, it can be seen that in the research of a single UAV searching a continuous area, it does not involve UAV heterogeneity and multi-UAV collaboration, and the search algorithm and path are easy to generate; In the study of multi-UAV search for continuous areas, the flight cost of UAVs between regions is not involved, and only the relative capabilities of UAVs are used as the basis for the distribution of the size of the coverage area; while the problem of multi-UAV multi-region search, not only Considering the performance differences of UAVs, and the flight cost and power consumption when covering multiple areas, the scheduling algorithm and path planning are more complicated, and there are relatively few studies in this area

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