Improved unmanned aerial vehicle track real-time planning method

A UAV and planning technology, applied in three-dimensional position/channel control, non-electric variable control, instruments, etc., can solve the problems of poor real-time tracking of moving targets, and achieve good real-time results

Inactive Publication Date: 2020-03-24
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing unmanned aerial vehicle target tracking track planning method for the poor real-ti

Method used

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Embodiment Construction

[0048] refer to Figure 1-3 .

[0049]The hardware environment of the method of the present invention is: GPU: Intel Xeon series, memory: 8G, hard disk: 500G mechanical hard disk; software environment is MATLAB2014. Based on the background of target tracking performed by UAVs, the problem of route planning of UAVs is studied; the idea of ​​model predictive control is used to carry out real-time route planning for UAVs, and the heuristic function in the A* algorithm is corrected to realize the target tracking part. Track planning, and enable the algorithm to converge quickly and improve the calculation speed.

[0050] The concrete steps of the real-time planning method for the improved unmanned aerial vehicle track of the present invention are as follows:

[0051] Step 1. Model predictive control: At each sampling moment, using the current state of the system as the initial condition, the optimal control sequence is obtained by optimizing the performance index to minimize the...

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Abstract

The invention discloses an improved unmanned aerial vehicle track real-time planning method, which is used for solving the technical problem that the existing unmanned aerial vehicle target tracking track planning method is poor in moving target tracking real-time performance. According to the technical scheme, a flight route is planned in advance according to state information of an unmanned aerial vehicle and a tracked target, and the unmanned aerial vehicle is guided to fly along the preset route. As the tracking target is a maneuvering target, different from global planning flying from thepoint A to the point B, airway planning cannot be completed offline at a time and must be carried out online in real time according to the unmanned aerial vehicle, the position of the target and thelike, flight and planning are carried out at the same time, and a planned airway responds to maneuvering of the target in time. Model prediction control is adopted to replace global optimization withlocal optimization, so that route planning of the unmanned aerial vehicle can respond to dynamic changes of the battlefield environment in time. Due to the fact that local optimization needs to be calculated, near-real-time solving can be achieved, the target is predicted in real time, the position of the target is updated in time, and the real-time performance of route planning is better.

Description

technical field [0001] The invention relates to a UAV target tracking track planning method, in particular to an improved UAV track real-time planning method. Background technique [0002] Aiming at the problem of UAV target tracking, there are many researches at home and abroad. Eric studies the method of UAV tracking and transferring troops for the task of troop transfer cover. This research assumes that the position of the troops is sent to the UAV in real time, that is, the target is a cooperative target. Therefore, the problem that the UAV needs to consider is how to maintain a specified distance to track the transfer force. Dobrokhodov introduced the state estimation of the target into the motion control strategy of the platform for consideration. While tracking the moving target, he estimated the state of the moving target, and then used the Lyapunov control method to maintain the continuous coverage of the target by the sensor. But these two methods do not fully co...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 蔡迎哲席庆彪
Owner NORTHWESTERN POLYTECHNICAL UNIV
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