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Two-stage optimization method for mobile platform path planning and unmanned aerial vehicle task allocation

A mobile platform and path planning technology, applied in non-electric variable control, vehicle position/route/height control, instruments, etc., can solve the problems of limited endurance of drones and difficult path planning solutions

Active Publication Date: 2020-02-21
HEFEI UNIV OF TECH
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Problems solved by technology

However, most of the UAVs used are rotary-wing UAVs, which have very limited battery life, and mobile platforms such as UAVs and vehicles perform relatively complex tasks, and it is difficult to solve specific path planning solutions. , so a new solution is needed

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  • Two-stage optimization method for mobile platform path planning and unmanned aerial vehicle task allocation
  • Two-stage optimization method for mobile platform path planning and unmanned aerial vehicle task allocation
  • Two-stage optimization method for mobile platform path planning and unmanned aerial vehicle task allocation

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Embodiment Construction

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0020] In the first aspect, the application provides a two-stage optimization method for mobile platform path planning and UAV task assignment, such as figure 1 As shown, the method includes the following steps:

[0021] S100. Obtain a heterogeneous task set and road network data; wherein, the heterogeneous task set includes point tasks correspon...

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Abstract

The invention provides a two-stage optimization method for mobile platform path planning and unmanned aerial vehicle task allocation. The method comprises the following steps that: a heterogeneous task set and road network data are acquired; a path planning model for an unmanned aerial vehicle and a mobile platform to cooperatively execute the heterogeneous task set is constructed; and a preset two-stage solving algorithm is adopted to solve the path planning model, so that an optimal solution is obtained, wherein the optimal solution is the optimal path of the mobile platform and the optimalpath of the unmanned aerial vehicle when the mobile platform and the unmanned aerial vehicle jointly complete all tasks in the heterogeneous task set. According to the method, the two-stage solving algorithm is adopted to solve the model. Compared with other solving algorithms, the method can more easily solve the optimal path.

Description

technical field [0001] The invention relates to the technical field of task allocation, in particular to a two-stage optimization method, device, computer equipment and storage medium for path planning of a mobile platform and task allocation of an unmanned aerial vehicle. Background technique [0002] Because of its light weight, small size, high flexibility and low cost, drones have gradually attracted people's attention and become an important tool for improving traffic patrols and power inspections. For example, both the Seattle police and the Los Angeles police in the United States have used drones as part of law enforcement activities; Police forces in Wenqun, Cornwall and Dorset have formed the UK's first dedicated drone unit to provide policing services. However, most of the UAVs used are rotary-wing UAVs, which have very limited battery life, and mobile platforms such as UAVs and vehicles perform relatively complex tasks, and it is difficult to solve specific path ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 罗贺张鹏王国强朱默宁雷星王菊胡笑旋夏维靳鹏马华伟
Owner HEFEI UNIV OF TECH
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