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UAV reconnaissance flight path planning method for line target

A track planning, unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicle reconnaissance

Active Publication Date: 2019-11-08
ARMY ENG UNIV OF PLA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to propose a line target-oriented UAV reconnaissance track planning method for the line target reconnaissance track planning problem

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  • UAV reconnaissance flight path planning method for line target
  • UAV reconnaissance flight path planning method for line target
  • UAV reconnaissance flight path planning method for line target

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Embodiment Construction

[0076] The present invention will be further explained below in conjunction with the accompanying drawings. The present invention is oriented to the line target UAV reconnaissance track planning method, refer to the flow chart figure 1 . Include the following steps:

[0077] Step 1: Establish a trajectory planning model for multi-UAV cooperative reconnaissance of multi-line target tasks;

[0078] Assuming there are m drones and N line targets, the number of line targets that the i-th drone needs to scout is n i .

[0079] (101) Calculate the distance L of the i-th UAV to the assigned first line target i1 :

[0080] L i1 =d((x i ,y i ),(x i11 ,y i11 )) (1)

[0081] Among them, the coordinates (x i ,y i ) represents the position of the i-th UAV, and the coordinates (x i11 ,y i11 ) represents the entry point position of the i-th UAV going to the assigned first line target; d(a,b) represents the geometric distance between point a and point b;

[0082] (102) Calcula...

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Abstract

The invention puts forward a UAV reconnaissance flight path planning method for a line target, thereby solving a flight path planning problem of multi-UAV line target reconnaissance. On the basis of consideration of target characteristics, a flight path planning mode of for multi-UAV line target reconnaissance is established, wherein the model uses a time cost as an objective function; the codingmode of a standard genetic algorithms is optimized, so that all targets are reconnoitered at most once; and a crossover operation and a mutation operation are rationally designed to increase the convergence speed of the algorithm. The simulation results show that the flight path planning problem of the multi-UAV line target reconnaissance is solved effectively by using the method; and the convergence is accelerated.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle reconnaissance, in particular to a method for planning a line target-oriented reconnaissance track of an unmanned aerial vehicle. Background technique [0002] UAV trajectory planning technology is the key to ensure the efficient completion of tasks by multiple UAVs, and has received extensive attention from scholars at home and abroad. At present, according to the different UAV reconnaissance objects, the problem of multi-UAV cooperative reconnaissance track planning is mainly divided into two aspects: "point-to-point" cooperative reconnaissance and "point-to-face" cooperative reconnaissance. [0003] "Point-to-point" collaborative reconnaissance track planning means that the reconnaissance object is a point target group, and it is required that the UAV can complete the reconnaissance of the given point target group with the minimum time cost. Such as Liu Chao. Multi-UAV route planning met...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06N3/12
CPCG01C21/20G06N3/126
Inventor 李文广胡永江庞强伟赵月飞李永科褚丽娜林志龙李爱华
Owner ARMY ENG UNIV OF PLA
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