A Path Planning Method for Multiple UAVs to Arrive at a Designated Place Simultaneously in a 3D Environment

Abstract

The invention discloses a path planning method for multiple unmanned aerial vehicles to arrive at a designated place at the same time in a three-dimensional environment. First, a population is established, and the chromosome represents a comprehensive track, and the comprehensive track is formed by concatenating the tracks of all unmanned aerial vehicles. ; The fitness of the genetic algorithm is set to be comprehensively evaluated by the total path length L of all UAVs, the difference degree T of the arrival time of different UAVs, and the violation degree W of the trajectory to the set UAV maneuverability constraints ; The genetic algorithm is used to optimize the chromosome, and the optimal chromosome is obtained after the iteration of the genetic algorithm is completed. The optimal chromosome decomposition is used to obtain the track of each UAV. The invention can solve the technical goal of multi-unmanned aerial vehicle assembly and achieve the mission point at the same time, while reducing the time error as much as possible.

Description

technical field [0001] The invention relates to the technical field of UAV path planning and control, in particular to a path planning method for multiple UAVs to arrive at a designated place at the same time in a three-dimensional environment. Background technique [0002] UAV has the characteristics of high flexibility, low cost, high security and strong concealment. These unique superior performances make UAV technology develop rapidly and gradually become a representative technology of the world's cutting-edge technology. It is widely used in various Post-disaster rescue, urban express delivery, terrain exploration, environmental monitoring and other fields. The trajectory planning of the UAV is an important technology that affects the performance of the UAV to complete the mission; the trajectory planning refers to planning the optimal path from the starting point to the target point under the premise of considering the environmental constraints and the maneuverability ...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, the collaborative path planning of UAVs in the 3D environment mostly focuses on the generation of paths by geometric methods or the establishment of cooperative motion models, and lacks the application background of simultaneous arrival in the 3D environment: Sahingo et al. proposed a method based on genetic Algorithm (GA) multi-UAV flight path planning method, first calculates a feasible path with the gas method, and then uses the Bezier curve to smooth the path; Madhavan Shanmugavel et al. studied the collaborative Path planning problem, using dubin paths with clothoid arcs to generate paths for each UAV; Christoph Rasche et al. propose a multi-UAV path planning method in 3D environment, providing a solution for exploring disaster areas ; The present invention is mainly aimed at the specific application scenario where multiple unmanned people arrive at the target point at the same time, and combines UAV dynamic constraints, safety constraints, and terrain condition constraints to propose a new and practical multi-UAV collaborative path planning scheme

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