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A Fast Generation Method of Heterogeneous Multi-UAV Collaborative Paths

A multi-UAV and UAV technology, applied in the direction of motor vehicles, two-dimensional position/channel control, vehicle position/route/altitude control, etc., to achieve the effect of fast generation

Active Publication Date: 2022-08-02
HEFEI UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

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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.

Method used

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  • A Fast Generation Method of Heterogeneous Multi-UAV Collaborative Paths
  • A Fast Generation Method of Heterogeneous Multi-UAV Collaborative Paths
  • A Fast Generation Method of Heterogeneous Multi-UAV Collaborative Paths

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Embodiment Construction

[0071] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0072] The embodiments of the present application provide a method for rapidly generating a cooperative path of heterogeneous multi-UAVs. The technical solutions in the embodiments of the present application are to solve the above-mentioned technical problems, and the general idea is as follows:

[0073] First determine the relevant information of the target that needs to be accessed by the drone, the info...

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Abstract

The invention provides a rapid generation method of a heterogeneous multi-unmanned aerial vehicle collaborative path, and specifically relates to the technical field of unmanned aerial vehicles. The relevant parameters of the UAV, and then based on the multiple heading angles of the UAV, the access targets that the UAV can access from each site are determined, and then the multi-site revisitable and variable-income Doberman team orientation problem MD is established. The ‑RDTOP‑VP model obtains the initial path planning scheme set for multi-UAVs to perform cooperative tasks, and finally uses the hybrid genetic simulated annealing algorithm HGSA that introduces dual fitness functions and adaptive switching mechanism to obtain the access of each UAV. The optimal path planning scheme for the target. Based on the method provided by the embodiment of the present invention, the time for path planning can be reduced, the utility of the UAV can be maximized, and the quality of completion of the heterogeneous multi-UAV cooperative task can be 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 a cooperative path of heterogeneous multi-unmanned aerial vehicles. Background technique [0002] UAVs have been widely used in target reconnaissance, traffic patrols, geological surveys, agricultural plant protection and other fields, but the endurance of a single UAV is limited and the tasks that can be performed are also limited. For tasks with large space scale, large number of tasks, and tight time requirements, it is often necessary to use multiple heterogeneous UAVs to form a formation to jointly complete the designated tasks through collaborative cooperation. The path planning problem of heterogeneous UAVs has been proved to be an NP-hard problem, and there is currently no precise algorithm that can obtain the optimal solution of the path planning problem in an acceptable time. [0003] When heterogeneous UAVs perform coop...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0257G05D1/0223G05D1/0221G05D1/0278G05D1/0276
Inventor 罗贺朱默宁杨善林王国强胡笑旋夏维马华伟唐奕城靳鹏
Owner HEFEI UNIV OF TECH
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