Method for distributed coordinated visual positioning of multiple moving targets based on multiple unmanned aerial vehicles

A multi-moving target, multi-UAV technology, applied in the direction of non-electric variable control, three-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problem of target allocation error, without considering the constraints of positioning field of view, etc.

Active Publication Date: 2019-12-24
TONGJI UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is not aimed at the target positioning scene, does not consider the field of view constraints required for positioning, and there is a target allocation error when the target moves

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  • Method for distributed coordinated visual positioning of multiple moving targets based on multiple unmanned aerial vehicles
  • Method for distributed coordinated visual positioning of multiple moving targets based on multiple unmanned aerial vehicles
  • Method for distributed coordinated visual positioning of multiple moving targets based on multiple unmanned aerial vehicles

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Embodiment Construction

[0055] A distributed collaborative visual positioning method for multi-moving targets based on multi-UAVs, including multiple UAVs equipped with binocular cameras, each UAV has a unique code; Markers are affixed to the positioned target; it is characterized in that: when performing a task, the drone is taken off, and the set of drones performing the task is marked {A 1 …A n}, the UAV flight process is to identify and form a target set {B 1 …B m}, where n is the number of UAVs performing tasks, and m represents the number of identified targets; input the UAVs and targets into the allocation model, and obtain the UAV-target execution sequence set, UAV-target execution sequence The set is composed of the execution relationship between the UAV and the target. The corresponding relationship between each group of UAV and the target is regarded as a UAV-target execution sequence; the positioning cost is calculated for each UAV-target execution sequence, and the positioning cost Th...

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Abstract

The invention provides a method for distributed coordinated visual positioning of multiple moving targets based on multiple unmanned aerial vehicles. Multiple moving targets equipped with binocular cameras are provided, and each unmanned aerial vehicle has a unique code; before the unmanned aerial vehicle performs a task, a landmark is pasted on a target to be positioned; a target set {B1 ... BM}is identified and formed in a flight process of the unmanned aerial vehicle, a positioning accuracy cost is added to a system positioning cost model, it is expected that the multiple unmanned aerial vehicles are contained by the most reasonable positioning target ratio and the optimal range, time and positioning accuracy, and meanwhile can quickly, efficiently, and cooperatively complete a multi-target positioning task, so that the stability and reliability of the system are improved.

Description

technical field [0001] The invention relates to a visual positioning method. Background technique [0002] The content of the background technology is only to help understand the technical content, not the prior art. [0003] With the rapid development of science and technology, the infrastructure construction of the current construction, industrial and other environments has got rid of the era of using a large number of labor forces, and has become more and more dependent on automation systems. Therefore, automation equipment such as construction robots has emerged as the times require. In actual work, there are often scenarios where multiple robots work together. Therefore, in order to achieve joint scheduling of multiple tasks, it is particularly important to locate multiple machines. However, due to the complex working environment and external interference, it is difficult to perform high-precision seamless positioning of multiple robots in a large space, especially whe...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor何斌李鑫王志鹏周艳敏沈润杰
OwnerTONGJI UNIV