A UAV formation search and task scheduling method

Abstract

The invention discloses a UAV formation search and task scheduling method, comprising the following steps: based on the UAV energy consumption model and calculating the geometric distance between the initial search point and the base station, determining the search subspaces of different UAVs, and performing the search The subspace is discretized and the breadth-first method is used, combined with the search trajectory memory to plan the UAV search path, and when the energy of the UAV is insufficient, it coordinates with the neighbor UAV to complete the search task of the target space. Through energy consumption, search area division, path planning and task scheduling, the present invention uses unmanned aerial vehicles to fly in formation in the search space, divide different search areas to obtain continuous search paths, and perform task switching when the energy supply of unmanned aerial vehicles is insufficient to ensure search While improving efficiency, the search time is extended, and the UAV can effectively complete the search and dispatch tasks in the 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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