Unmanned aerial vehicle formation searching and task scheduling method

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,...

AI Technical Summary

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 method adopts UAV formation flight, divides different search areas to obtain a continuous search path, and performs task switching for UAVs with insufficient energy supply, which ensures search efficiency and prolongs the search time, thereby improving the search efficiency. Human-machine service capabilities in a wide range of spaces

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