Multi-UAV mission planning method based on minimization of maximum energy consumption and device

Abstract

The embodiment of the invention provides a multi-UAV mission planning method based on minimization of maximum energy consumption and device. The method comprises steps: multiple mission points are acquired; the multiple mission points are planned to an initial path; and the initial path is optimized according to an optimization manner in a preset traversing neighborhood search algorithm to obtainflight paths of M UAVs. The step of planning the multiple mission points to an initial path comprises sub steps: a starting point is determined and M points are selected from the multiple mission points to serve as first nodes of M to-be-expanded paths; after the first nodes of the M to-be-expanded paths are determined, in view of a tail-end node of each to-be-expanded path, the expansion energy consumption is calculated, and a mission point with the minimum expansion energy consumption is used as a candidate node; and the expansion energy consumption of the rest to-be-expanded paths is returned to be calculated until each mission point belongs to one of the M to-be-expanded paths, and M initial paths are obtained. Through the scheme of the invention, the flight path of multiple UAVs working together can be further effectively adjusted.

Description

technical field [0001] The present invention relates to the technical field of UAV mission planning, in particular to a multi-UAV mission planning method and device based on minimizing maximum energy consumption. Background technique [0002] With the development of drone technology, drones have been widely used in military, environmental monitoring, precision agriculture and other fields. Since a single drone has many limitations in computing power, storage space, load capacity, battery capacity, etc., the use of multiple drones to work together can reflect the advantages of high coverage, high efficiency, and high robustness. Therefore, multi-UAV collaborative work becomes particularly important, and multi-UAV mission planning is an important part of multi-UAV collaborative work. The purpose of UAV mission planning is to reasonably allocate UAVs according to different tasks, maximize the effective role, ensure the time to complete the mission and minimize the total cost o...

AI Technical Summary

Problems solved by technology

However, the optimization direction of this algorithm is to minimize the total number of distances. Its optimization goal reduces the energy consumption of UAVs to a certain extent, but it does not directly consider the energy consumption of UAVs. The flight path of the aircraft working together cannot be further effectively adjusted

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