UAV path planning method under multiple dynamic mission target points

Abstract

The invention provides a method for planning a path of an unmanned aerial vehicle under multiple dynamic task target points. The method comprises the following steps of training an SOM neural network;determining winning points, access points and access sequences; determining a flight direction and an optimal path; carrying out iteration; and carrying out rolling optimization. According to the method, the unmanned aerial vehicle needs to periodically traverse all unmanned vehicles and carries out information exchange for a path planning problem of the unmanned aerial vehicle under a messengermechanism; the access sequences and the access points are solved and a flight path of the unmanned aerial vehicle is optimized by using an unsupervised competitive neural network SOM through considering the constraint conditions, such as motion curvature constraints of the unmanned aerial vehicle, dynamic characteristics of the unmanned aerial vehicle and a communication range of the unmanned aerial vehicle; and the unmanned aerial vehicle solves the optimization problem after accessing one unmanned vehicle every time by adopting a rolling optimization strategy in the process that the unmannedaerial vehicle traverses the unmanned vehicles, thereby dynamically updating the optimal path in the access process of the unmanned aerial vehicle and continuously ensuring the advantages of the decision.

Description

technical field [0001] The invention relates to a path planning technology in the field of air-ground collaboration, in particular to a path planning method for unmanned aerial vehicles under multiple dynamic task target points. Background technique [0002] Since UAVs and unmanned vehicles are highly complementary in terms of speed, load, communication, and observation capabilities, air-ground collaboration can effectively broaden the application range of UAVs and unmanned vehicles, and improve their ability to perform reconnaissance, search, and rescue. Efficiency of other tasks. Messenger mechanism is a possible cooperative mode of drones and unmanned vehicles. It has broad application prospects in military and civilian fields, and can play an important role in scenarios such as disaster relief and rescue. The meaning of the messenger mechanism is: In the drone / unmanned vehicle coordination system, it is assumed that the communication range of the unmanned vehicle is lim...

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Problems solved by technology

[0005] At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.

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