A reconnaissance path planning method for multi-moving time-sensitive targets by UAV swarms

Abstract

The invention discloses a multi-moving time-sensitive target reconnaissance path planning method for an unmanned aerial vehicle group. The method comprises the following steps: 1, constructing a reconnaissance area map environment; 2, constructing an initial search area unit; 3, expanding a search area online; 4, terminating conditions; 5, outputting an unmanned aerial vehicle path; 6, updating targets, if all the targets in the target linked list are planned, completing the task, and ending the task; otherwise, taking out the next target G from the target linked list, and continuing the step7; 7, judging the intersection of the new target and the searched area; and 8, updating information of the searched area. The method has the advantages that the path planning method for reconnaissancetasks of a plurality of moving time-sensitive targets in the task area can meet the real-time requirement of unmanned aerial vehicle path planning in a large range and with high precision, dynamic tracking and fastest arrival of the moving time-sensitive targets are achieved, and therefore the cooperative task efficiency of a swarm intelligence unmanned system is improved.

Description

technical field [0001] The invention belongs to the technical field of avionics, and in particular relates to a reconnaissance path planning method for a plurality of moving time-sensitive targets carried out by an unmanned aerial vehicle group. Background technique [0002] UAVs have many advantages such as fast deployment, low cost, strong concealment, diverse and flexible functions, and low casualties. UAVs will become an important part of the future air reconnaissance force, and the reconnaissance tasks they undertake will become more and more important complex. Swarm reconnaissance is an important development direction and main application method of UAVs in the future. In regional reconnaissance missions, the UAV group for cooperative reconnaissance can achieve full coverage of the mission area, multi-target, and multi-dimensional intelligence collection, thereby greatly improving our capabilities. information advantage. [0003] Path planning is an important link in ...

AI Technical Summary

Problems solved by technology

At present, there are many methods to improve the efficiency of path planning, such as online balance resolution method and offline region segmentation method. The path planning requirements in the reconnaissance scene are mainly reflected in: First, UAV reconnaissance missions usually have a large task area and high path accuracy requirements, which makes the solution space of most online methods very large, and the required computing / storage / Time resources are unbearable, and although the offline map processing method can greatly reduce the scale of the solution space, it has poor dynamic adaptability, and it is difficult to solve the problem of frequent update of the map environment brought about by the fast-paced changes in the task area; second, important time-sensitive targets are usually It will have a certain maneuver-transfer strategy, and the attribute of the planning problem will change from a one-dimensional space planning problem to a two-dimensional time-space joint planning problem. The fastest path for time-sensitive targets", the complexity of the problem is greatly increased; third, in order to improve the effect of cooperative reconnaissance, it is often necessary to carry out reconnaissance missions on multiple targets in the mission area together. Repeated planning to deal with multi-objective problems, the planning time expands linearly with the size of the UAV group and the target group, it is difficult to meet the real-time requirements of large-scale multi-objective tasks

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