Flight path planning method for coordinated detection and obstacle avoidance of unmanned aerial vehicle group

Abstract

The invention relates to a flight path planning method for coordinated detection and obstacle avoidance of an unmanned aerial vehicle group. The method includes the following steps: S1. setting an unmanned aerial vehicle group flying area and designating a task monitoring area in the flying area; S2. defining yaw angle independent variables of N unmanned aerial vehicles, and initializing yaw angles, location coordinate information in the flying area, the number of current searching steps k=0, and the cumulative coverage percent=p1 on the task area at the current moment of the N unmanned aerialvehicles; S3. predicting flight path yaw angles and location information of (k+1) steps of the N unmanned aerial vehicles in the flying area, and separately calculating a coverage area and a fitnessfunction value; S4. comparing all possible fitness values, selecting a yaw angle and location information of an optimal fitness value as information of the (k+1)th step, and storing the yaw angle andthe location information in a flight path chart; and S5. enabling k=k+1, judging whether k=1 or percent=1, if yes, ending the planning, and otherwise, continuing S3 to S5. The method of the inventioncan realize the maximum monitoring coverage area, avoid obstacles and a required flight path has no fixed starting point and ending point.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a track planning method for coordinated detection and obstacle avoidance of unmanned aerial vehicles. Background technique [0002] UAV combat has the advantages of small size, light weight, long battery life, strong load capacity, strong survivability, low cost, strong autonomous control ability, no casualties, and the ability to fly in high-risk airspace. However, the modern battlefield environment is complex and changeable, and has the characteristics of all-round and large depth. A single UAV is often unable to complete all air security tasks. The effectiveness of a UAV is very limited. Therefore, the cooperative operation of multiple drones can maximize the role of drones. [0003] The coordination mechanism of multiple UAVs is mainly to enable multiple UAVs to cooperate to complete the detection coverage of the warning area and avoid dangerous...

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