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A collaborative active perception method for rapid target search of UAV swarms

A target search and UAV technology, which is applied in the field of collaborative active perception for fast target search of UAV groups, and achieves the effects of high convergence accuracy, improved execution efficiency, and improved practicability and efficiency.

Active Publication Date: 2020-07-10
TSINGHUA UNIV
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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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  • A collaborative active perception method for rapid target search of UAV swarms
  • A collaborative active perception method for rapid target search of UAV swarms
  • A collaborative active perception method for rapid target search of UAV swarms

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing.

[0022] refer to figure 1 It is a flow chart of the cooperative active perception method for rapid target search of UAV swarms in the present invention, which is especially suitable for real-time and rapid detection of large-scale and incompletely known complex target areas by UAV swarms under multi-constraint conditions. Target search and track planning, the method specifically includes the following steps:

[0023] 1) Set the number N of UAVs, the starting point of each UAV, and the maximum number of iterations for subsequent calculations. According to the target monitoring area of ​​the drone group, set n target positions of the drone group; the drone group includes N independently moving drones, and each drone is equipped with a visual sensor, according to The sensing distance of this visual sensor sets the monitoring radius R of each unmanned aerial vehicle (in this e...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12G01C21/20G01C21/00
Inventor 刘华平吴莹莹丁肇红赵怀林孙富春王华鲜
Owner TSINGHUA UNIV
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