A Cooperative Track Planning Method for Multi-UAV Based on Inverse Method

A multi-UAV and track planning technology, applied in three-dimensional position/course control, instruments, control/regulation systems, etc., can solve the problems of increased calculation amount and finding the path, so as to reduce the possibility of collision, The method is simple, taking into account the effect of flying

Active Publication Date: 2022-03-25
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0006] The traditional method has relatively good completeness, but when the environment is too complex, the amount of calculation will increase greatly, and the path may not be found

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  • A Cooperative Track Planning Method for Multi-UAV Based on Inverse Method
  • A Cooperative Track Planning Method for Multi-UAV Based on Inverse Method

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Embodiment Construction

[0029] The method of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments of the present invention.

[0030] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0031] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof....

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Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative track planning method based on the inversion method, which comprises the following steps: Step 1, planning a flightable path; Step 2, adjusting the parameters of the flying path to generate a flightable equal-length path; Step 3 1. Collision detection of any two flyable equal-length paths; Step 4, adjusting the flyable equal-length paths by reverse calculation; Step 5, generating a safe flyable path. The method of the present invention is simple. The collision point is reversely calculated from the end position of the air route to the start position by using the reverse calculation method, and path compensation is performed on one of the two flyable paths at the collision point, and the path compensation is performed on the other one at the starting point position. Compensation, while ensuring the safe flight of multiple UAVs, greatly reduces the trajectory generation time, increases the planning efficiency, and has a good use effect.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle track planning, and in particular relates to a multi-unmanned aerial vehicle cooperative track planning method based on the inverse method. Background technique [0002] With the development of computer technology, sensor technology, wireless communication technology and UAV technology, UAVs gradually have a high degree of autonomous control capabilities. Compared with manned aircraft driven by pilots, UAVs have many potential advantages. For example: UAVs that fly autonomously do not need to rest when the fuel is sufficient, and can cruise for a longer period of time; UAVs do not need to provide the necessary life support systems for pilots, which not only reduces flight costs, but also provides a better environment for deploying sensors. and other equipment provides more space. Multi-UAV cooperative operations can improve the combat effectiveness of UAVs, which has become the de...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 蒋雯刘圆娜邓鑫洋
Owner NORTHWESTERN POLYTECHNICAL UNIV
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