Cooperative active sensing method for rapid target searching of unmanned aerial vehicle (UAV) group

Abstract

The invention discloses a cooperative active sensing method for rapid target searching of a UAV group, and belongs to the technical field of multi-UAV area monitoring. The method comprises that a target position is set according to a target monitoring area of the UAV group; a multi-UAV 3D trajectory plan is decoupled into plans in horizontal and vertical directions, the plan sequence in the horizontal direction of multi-UAV cooperative searching is determined on the basis of a tree-shaped dynamic increase self-organizing mapping algorithm, the flight height of the UAV group is adjusted, and all neighborhood of the target position is visited; a smooth closed-loop 3D trajectory plan of the UAV group is realized by means of a segmented smooth curve; and according to UAV path speed and acceleration constraints, a speed profile calculation is used to solve the problem in optimizing the shortest time of active sensing in the multi-UAV cooperative area. The processes are implemented simultaneously, more UAV can visit more target positions as possible within the shortest time according to the planed course, cooperative rapid target searching is realized, and an active sensing task is completed.

Description

technical field [0001] The invention belongs to the technical field of multi-UAV area monitoring, and in particular relates to a cooperative active sensing method for rapid target search of UAV groups. Background technique [0002] UAV is a kind of unmanned aerial vehicle that is driven by power and can carry mission equipment, and has the ability of beyond visual range flight and autonomous flight. With its low manufacturing cost, small size, and strong mobility, it is playing an increasingly important role in military and civilian fields. The joint execution of tasks by multiple UAVs and related research have gradually become an application trend, and area surveillance is an important task of the current UAV swarm control system. Among them, cooperative target search and active perception in large-scale complex environments is one of the main problems to be solved in the field of UAV swarm control systems. [0003] At present, most of the research on route planning algor...

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Problems solved by technology

[0005] The purpose of the invention is to overcome the deficiencies of the prior art and provide a collaborative active sensing method for rapid target search of drone groups. The present invention aims at large-scale and incompletely known complex Tissue Mapping Algorithm and Bezier Smooth Programming to Solve the Track Rapid Planning and Active Perception Problem of UAV Swarm Cooperative Regional Target Search under Multiple Constraints

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