Rapid generation method of heterogeneous multi-unmanned aerial vehicle cooperative path

Abstract

The invention provides a rapid generation method of a heterogeneous multi-unmanned aerial vehicle cooperative path, and particularly relates to the technical field of unmanned aerial vehicles. The method may include: determining related information of a target to be accessed by an unmanned aerial vehicle, unmanned aerial vehicle station information and related parameters of the unmanned aerial vehicle; determining an access target which can be accessed by the unmanned aerial vehicle starting from each station based on a plurality of course angles of the unmanned aerial vehicle; then, establishing a multi-site revisting income-variable Dorbin team orientation problem MD-RDTOP-VP model; and obtaining an initial path planning scheme set for the multiple unmanned aerial vehicles to execute thecooperative task, and finally obtaining an optimal path planning scheme for each unmanned aerial vehicle to access any access target by adopting a hybrid genetic simulated annealing algorithm HGSA introducing a dual-fitness function and an adaptive switching mechanism. Based on the method provided by the embodiment of the invention, the path planning time can be reduced, the effectiveness of theunmanned aerial vehicle is exerted to the greatest extent, and the completion quality of the heterogeneous multi-unmanned aerial vehicle cooperative task is effectively improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for rapidly generating cooperative paths of heterogeneous multi-unmanned aerial vehicles. Background technique [0002] UAVs have been widely used in many fields such as target reconnaissance, traffic patrol, geological survey and agricultural plant protection, but the battery life of a single UAV is limited, and the tasks that can be performed are also limited. For tasks with a large space scale, a large number of tasks, and tight time requirements, it is often necessary to use multiple heterogeneous UAVs to form a formation and cooperate to complete the specified tasks. The path planning problem of heterogeneous UAVs has been proved to be an NP-hard problem. At present, there is no accurate algorithm that can obtain the optimal solution of the path planning problem within an acceptable time. [0003] When heterogeneous UAVs perform collaborative tasks...

AI Technical Summary

Problems solved by technology

The path planning problem of heterogeneous UAVs has been proved to be an NP-hard problem. At present, there is no accurate algorithm that can obtain the optimal solution of the path planning problem in an acceptable time.

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