Multi-drone path planning method based on minimization of mission completion time

Abstract

The invention discloses a multi-drone path planning method based on minimization of mission completion time, and the method realizes the purpose of the minimization of mission completion time of the drone with the longest time through path planning for K drones on the premise of considering the quality of information collection, in particular comprising the following steps of determining hover points of the drones in the process of information collection tasks according to base station coverage principle and the set requirements of the information collection tasks; assigning the information collection tasks and planning the trajectory of each drone by using the minimum-maximum path coverage algorithm according to the positions of the hover points; considering the situation of the drones collecting information during flight based on the planned trajectories of the drones, and performing optimal distribution on the flight time and information collection time. The method provided by the invention plans trajectories of the drones by using the algorithm of fairness principle, and minimizes the completion time of the tasks so as to ensure the completion efficiency of the information collection tasks.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle path planning, and specifically relates to a multi-unmanned aerial vehicle path planning method based on the minimization of task completion time. Background technique [0002] UAV path planning is the key technical guarantee to realize the autonomous flight of UAV, and the path planning method is the core of path planning. UAV path planning refers to planning the optimal or satisfactory flight path for the UAV under the premise of comprehensively considering the arrival time, fuel consumption, threat and flight area of ​​the UAV to ensure the successful completion of the flight mission. and return safely to base. In the 1960s, scholars began to study the path planning technology of a single UAV. In the 1970s and 1980s, researchers were inspired by some ideas in the field of robotics. After the 1990s, UAVs developed rapidly, and the application field became more and more important. Widely,...

AI Technical Summary

Problems solved by technology

This method does not consider the task coordination between UAVs, but simply decomposes the multi-UAV path planning method into multiple sub-problems

In addition, although some existing algorithms consider optimizing these two problems at the same time, they do not take into account the energy consumption limit of each UAV.

Most of them are optimized from the perspective of total energy consumption and total task completion time, which can easily cause the consequences of excessive load on a single drone

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