Unmanned aerial vehicle group path planning method under uncertain condition

Abstract

The invention discloses an unmanned aerial vehicle group path planning method under an uncertain condition, and the method specifically comprises the steps of: enabling an unmanned aerial vehicle group to obtain environment information which comprises the coordinates of an obstacle in the environment and the positions of a starting point and a target point of an unmanned aerial vehicle, and enabling the unmanned aerial vehicle to also need to consider uncertain factors in the environment; providing a robust evaluation function to evaluate the route of the unmanned aerial vehicle group; and optimizing the initial air route of each unmanned aerial vehicle in the unmanned aerial vehicle group through a robust particle swarm optimization algorithm, so that the final optimized air route has robustness. The method is low in calculation complexity and high in efficiency, a robust unmanned aerial vehicle group planning flight path can be generated, safe and efficient flight under uncertain conditions is achieved, tasks are cooperatively completed, and a specified target is achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle group path planning method under uncertain conditions. Background technique [0002] UAVs have been used extensively in recent years. Compared with ordinary aircraft, UAVs are light, flexible, highly maneuverable, and do not require flight costs. In some cases, they have increased adaptability, such as forest fire monitoring and post-disaster rescue. However, when there is no human operation, the flight risk of drones will also increase accordingly, such as possible strong winds or thunderstorms, inaccurate positioning of drones in unknown environments, etc., will affect the flight safety of drones. Threats may cause property damage. At the same time, if the drone crashes, it will also endanger the safety of human life and property on the ground. Therefore, before the UAV flies, we need to carry out path planning, taking i...

AI Technical Summary

Problems solved by technology

However, when there is no human operation, the flight risk of drones will also increase accordingly. For example, there may be strong winds or thunderstorms, and the inaccurate positioning of drones in unknown environments will affect the flight safety of drones. Threats may cause property damage, and if the drone crashes, it will also endanger the safety of human life and property on the ground

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