Unmanned aerial vehicle formation searching and task scheduling method

A task scheduling and UAV technology, applied in the field of UAV target search, can solve problems such as prolonging the search time, and achieve the effects of shortening the return time, good sustainability, and improving efficiency

Active Publication Date: 2019-09-24
HOHAI UNIV CHANGZHOU
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problems of the division of large-scale search areas in the prior art, the path planning of a single UAV in the search subspace, and the energy relay and scheduling strategy when the energy supply of the UAV is insufficient, the present invention proposes a UAV The formation search and task scheduling me

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Embodiment 1

[0044] The embodiment of the present invention provides a UAV formation search and task scheduling method, which specifically includes the following steps:

[0045] (1) Obtain the remaining energy of the UAV when it flies from the base station to the corresponding preset search sub-area;

[0046] (2) Redistribute the search area based on the remaining energy of the UAV to obtain a new search sub-area corresponding to the UAV;

[0047] (3) Carry out the path planning of the UAV in the new search sub-area to obtain a continuous search path;

[0048] (4) When the UAV performs the search task according to the continuous search path, the remaining energy is not enough to supply it to continue the search until it returns to the base station, then switch tasks with the neighbor UAV until the search of the entire search area is completed.

[0049] In a specific implementation of the embodiment of the present invention, the remaining energy of the unmanned aerial vehicle when flying f...

Embodiment 2

[0067] The difference between the embodiment of the present invention and embodiment 1 is that the method further includes:

[0068] After all the UAVs complete the search tasks in the entire search area, the formation returns to the base station, which specifically includes the following steps: the i-th UAV Q i At time t the position is Q i (t);

[0069] When Q j (t) when close to Q i (t) corresponds to the Euclidean distance d||Q j (t)-Q i (t)||i The direction of motion at time t+1 is Q k The velocity at time t is v k (t), the drone Q will be activated when there are no other drones within the minimum distance ε k And drone Q i The direction of motion at time t+1 is When drone Q i When there are no other drones within the detection range of , Q i Move in the original direction, Q i The direction of motion at the next moment is A i (t+Δt)=v i (t).

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Abstract

The invention discloses an unmanned aerial vehicle formation searching and task scheduling method. The method comprises the following steps of: calculating a geometric distance between an initial search point and a base station based on an unmanned aerial vehicle energy consumption model, determining search subspaces of different unmanned aerial vehicles, discretizing the search subspaces, planning an unmanned aerial vehicle search path by adopting a width priority method and combining search track memory, and performing cooperative scheduling with a neighbor unmanned aerial vehicle to finish a search task of a target space when the energy of the unmanned aerial vehicle is insufficient. According to the method, through energy consumption, search area division, path planning and task scheduling, unmanned aerial vehicles are used for formation flight in a search space, different search areas are divided to obtain continuous search paths, task switching is performed when the energy supply of the unmanned aerial vehicles is insufficient, the search time is prolonged while the search efficiency is guaranteed, and the unmanned aerial vehicles can effectively complete search and scheduling tasks of a target area.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle target search, in particular to an unmanned aerial vehicle formation search and task scheduling method. Background technique [0002] With the urgent needs of people for safety detection, target tracking and other tasks, especially in the face of complex geographical environments, swamps and canyons, mountains and lakes, mountains, insect disaster areas and even toxic radiation and other extreme areas, it is often difficult for humans to reach or even endanger humans. Health, simply using manual detection is not efficient, the effect is not good, and there are serious cases of missed detection and false detection, so it is difficult to achieve the purpose of efficient detection of large-scale scattered targets. Therefore, advanced machines must be used to efficiently detect areas where humans cannot effectively operate. [0003] With the help of the UAV's light weight, small size,...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 罗成名曹钰鑫冯森秦嘉东方婕陈曦晖金纪东辛改芳
Owner HOHAI UNIV CHANGZHOU
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