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A multi-machine scheduling method for two-dimensional area coverage tasks

A technology of area coverage and scheduling method, applied in the field of multi-aircraft, can solve the problems of reducing operation efficiency and intelligent degree

Active Publication Date: 2020-11-13
BEIHANG UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practical applications, the stand-alone operation mode is usually adopted, which reduces the operation efficiency and the degree of intelligence.

Method used

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  • A multi-machine scheduling method for two-dimensional area coverage tasks
  • A multi-machine scheduling method for two-dimensional area coverage tasks
  • A multi-machine scheduling method for two-dimensional area coverage tasks

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Embodiment Construction

[0061] See Figure 1-6 As shown, the present invention provides a multi-machine scheduling method for two-dimensional area coverage tasks. Taking farmland spraying as an example, the specific implementation will be further described. The simulation and calculation process is carried out on a computer with a main frequency of 3.30Ghz, a memory of 16.0GB, and MATLAB R2014a under the Win7 flagship operating system.

[0062] (1) The present invention is realized on a multi-machine cooperative farmland spraying simulation platform, and the schematic diagram is as follows Figure 5 shown. Specific steps are as follows:

[0063] Step 1: Assignment of 2D area coverage tasks

[0064] First, set the parameters of the field and the aircraft. According to the actual aircraft situation, input the number m of aircraft participating in the spraying work, and the flight height h 0 , flight speed v q , the time required for each charge t Charge , the flight time t of the aircraft after...

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Abstract

The invention relates to a multi-machine scheduling method for two-dimensional region coverage tasks. The multi-machine scheduling method comprises the following steps that 1, the two-dimensional region coverage tasks are allocated, specifically, 1.1, an optimization objective function is established, 1.2, nonlinear constraint conditions are designed, and 1.3, the convex optimization problem of task allocating is solved, and a waypoint is generated; and 2, air traffic dispatching of an aircraft is conducted, specifically, 2.1, the state of the aircraft is designed, and 2.2, anti-collision state machines of the aircraft are designed. The multi-machine scheduling method can be applied to the coverage tasks (such as farmland plant protection, surveying and mapping, and patrolling) of variousand different two-dimensional regions, the working efficiency and operation safety of the aircraft are improved, and meanwhile, the time and labor are saved.

Description

technical field [0001] The invention relates to a multi-aircraft scheduling method for two-dimensional area coverage tasks, and belongs to the technical field of multi-aircraft. Background technique [0002] Aircraft are widely used in many two-dimensional area coverage tasks, such as patrolling, surveying and mapping, field information monitoring, drug spraying, field seeding and crop pollination, etc. However, in practical applications, the stand-alone operation mode is usually adopted, which reduces the operation efficiency and the degree of intelligence. For multiple aircrafts to simultaneously cover large-scale irregular areas, it is necessary to carry out reasonable task allocation and air traffic scheduling, so that all aircrafts can operate efficiently, safely and without duplication. Therefore, it is very important and meaningful to study a multi-machine scheduling method for two-dimensional area coverage tasks. Contents of the invention [0003] The invention p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 全权李梦芯
Owner BEIHANG UNIV
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