Method for planning single-movement time-sensitive target reconnaissance path by unmanned aerial vehicle group

Abstract

The invention discloses a method for planning a single-movement time-sensitive target reconnaissance path by an unmanned aerial vehicle group, and the method comprises the following steps: 1, constructing a reconnaissance region map environment; 2, constructing an initial search area unit; 3, expanding a search area online; 4, terminating conditions; and 5, outputting an unmanned aerial vehicle path. The method has the beneficial effects that path planning of the reconnaissance task is carried out on the moving time-sensitive target in the task area, the real-time requirement of unmanned aerial vehicle route planning in a large range and with high precision can be met, dynamic tracking and fastest arrival of the moving time-sensitive target are achieved, and therefore the reconnaissance efficiency of the 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 single moving time-sensitive target 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 and complex. . Swarm reconnaissance is an important development direction and main application method of UAVs in the future. In regional reconnaissance missions, UAV swarms can achieve full coverage of the mission area, multi-target, and multi-dimensional intelligence collection, thereby greatly improving our information advantage. . [0003] Path planning is an important link in the reconnaissance mission of the UAV swarm, which directly...

AI Technical Summary

Problems solved by technology

At present, there are many methods to improve the efficiency of path planning, such as the online balance resolution method and the offline region segmentation method. These methods have achieved good results in their specific fields, but it is difficult to meet the requirements of UAV groups for reconnaissance scenarios of moving time-sensitive targets. The following path planning requirements 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 The resources are unbearable, and although the offline map processing method can greatly reduce the scale of the solution space, the dynamic adaptability is poor, and it is difficult to solve the problem of frequent update of the map environment caused by the fast-paced changes in the task area; second, important time-sensitive targets usually have With a certain maneuver-transfer strategy, the nature of the planning problem changes from a one-dimensional space planning problem to a two-dimensional time-space joint planning problem. The purpose of planning is no longer "the shortest path to a fixed target" but "time sensitive The fastest path to the goal", the complexity of the problem is greatly increased

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