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Track planning method for line target-oriented UAV reconnaissance

A track planning, UAV technology, applied in the field of UAV reconnaissance, to achieve the effect of simple task track, fast effectiveness, and fast algorithm convergence speed

Active Publication Date: 2021-06-29
ARMY ENG UNIV OF PLA
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  • 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

Method used

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  • Track planning method for line target-oriented UAV reconnaissance
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  • Track planning method for line target-oriented UAV reconnaissance

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Experimental program
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Embodiment Construction

[0076] The present invention will be further explained below in conjunction with the accompanying drawings. UAV reconnaissance track planning method for broadening targets, flow chart reference figure 1 . Include the following steps:

[0077] Step 1: Build a track planning model for multi-drone complaints reconnaissance multi-line target tasks;

[0078] The amount of line target required for M frame drone, n line target, the number of wires required for the Iman drone is N i .

[0079] (101) Calculate the distance L of the first line target of the first line of the first line allocated. i1 :

[0080] L i1 = D (x i Y i ), (x i11 Y i11 )) (1)

[0081] Among them, coordinate (X i Y i Represents the position of the Iman, coordinate (X i11 Y i11 ) Indicates the entry point position of the first line target assigned to the allocated first line; D (A, B) represents the geometric distance between the point A and Point B;

[0082] (102) Calculate the target length of the JU 1ij :

[0083] ...

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Abstract

Aiming at the track planning problem of multi-UAV reconnaissance line target, the present invention proposes a line target-oriented UAV reconnaissance track planning method. First, on the basis of considering the characteristics of the target, the trajectory planning model of multi-UAV reconnaissance line target with time cost as the objective function is established. Then, the way the standard genetic algorithm is coded is optimized to ensure that all targets are scouted at most once. Finally, in order to improve the convergence speed of the algorithm, the crossover operation and mutation operation are designed reasonably. The simulation results show that the algorithm can effectively solve the problem of track planning for multi-UAV reconnaissance line targets, and the convergence speed is fast.

Description

Technical field [0001] The present invention relates to the field of drone reconnaissance, and in particular, there is a method of disconnecting a plane-oriented discrimination tracking method. Background technique [0002] UAVA planning technology is the key to ensuring multi-drone efficient completion tasks, and has been widely concerned by scholars at home and abroad. At present, according to the different drone reconnaissance objects, multiple drone consecutive reconnaissance track planning issues are mainly divided into two aspects of "point-to-point" collaborative reconnaissance and "point opposite" collaborative reconnaissance. [0003] The "point-to-point" collaborative reconnaissance track plan, that is, the scout object is a point target group, requiring the drone to detect the point target group given by the task at the minimum time. Such as Liu Chao. Multiple UAV Route Planning Method Based on Improved Genetic Algorithm [J]. Fire Command and Control, 2019,44 (1): 18-2...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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