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Path optimization method for multi-unmanned aerial vehicle cooperative inspection task

A multi-UAV, inspection task technology, applied in the field of UAV, can solve the problems of low quality of inspection task completion and unoptimized UAV path

Active Publication Date: 2020-06-02
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the path of the UAV cannot be optimized, and the quality of the inspection task is low.

Method used

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  • Path optimization method for multi-unmanned aerial vehicle cooperative inspection task
  • Path optimization method for multi-unmanned aerial vehicle cooperative inspection task
  • Path optimization method for multi-unmanned aerial vehicle cooperative inspection task

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Embodiment Construction

[0064] 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 are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0065] The embodiment of the present application provides a heterogeneous multi-UAV collaborative task assignment and path optimization method.

[0066] The technical solution in the embodiment of the present application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0067] First determine the relevant parameters of multiple inspection targets that require multiple UAVs to perform in...

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Abstract

The invention provides a path optimization method for a multi-unmanned aerial vehicle cooperative inspection task, particularly relates to the technical field of unmanned aerial vehicles, and the method may include:: firstly, determining related parameters of an inspection target in a target area, unmanned aerial vehicle parameters for executing an inspection task, station parameters of an unmanned aerial vehicle and total task execution duration; setting course angle dispersion of the unmanned aerial vehicle; based on the inspection target related information, the site related information andthe task execution duration, determining an inspection target which can be accessed by an unmanned aerial vehicle starting from each site; and meanwhile, establishing and optimizing a multi-site reaccessible multi-unmanned aerial vehicle path problem MDMV-MURP model to obtain an optimal path planning scheme of an access inspection target of each unmanned aerial vehicle. Based on the method provided by the embodiment of the invention, the credibility of the information acquired by all the unmanned aerial vehicles within the given task time can be maximized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a path optimization method for multi-unmanned aerial vehicle cooperative inspection tasks. Background technique [0002] UAVs have been widely used in scenarios such as military inspections and power tower inspections. In order to improve the efficiency of inspection tasks, multiple UAVs are usually used to inspect the target area at the same time from different directions, and these UAVs usually start from different stations. UAVs can obtain images of inspection targets through their mounted sensors, and synthesizing images obtained by different types of sensors can greatly improve the credibility of the information obtained, such as: military targets through visible light radar and synthetic aperture radar Or power poles and towers to take pictures. [0003] At present, when the traditional scheme assigns tasks to multiple UAVs performing tasks, it does not c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/104
Inventor 罗贺朱默宁杨善林王国强胡笑旋靳鹏夏维马华伟唐奕城
Owner HEFEI UNIV OF TECH
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