Heterogeneous multi-UAV cooperative task assignment and path optimization method

A task allocation and multi-UAV technology, applied in the direction of vehicle position/route/height control, instrument, three-dimensional position/course control, etc., can solve problems such as the inability to optimize the path of UAVs and the inability to maximize useful information. Achieve the effect of task allocation and path optimization, reducing time

Active Publication Date: 2022-07-26
HEFEI UNIV OF TECH
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Problems solved by technology

Therefore, it is impossible to optimize the path of each UAV, so that the useful information obtained by all UAVs cannot be maximized

Method used

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  • Heterogeneous multi-UAV cooperative task assignment and path optimization method
  • Heterogeneous multi-UAV cooperative task assignment and path optimization method
  • Heterogeneous multi-UAV cooperative task assignment and path optimization method

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Embodiment Construction

[0060] 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.

[0061] The embodiments of the present application provide a method for cooperative task assignment and path optimization of heterogeneous multi-UAVs.

[0062] 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:

[0063] First determine the relevant information of the drone in the target area, the rele...

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Abstract

The invention provides a heterogeneous multi-unmanned aerial vehicle cooperative task allocation and path optimization method, and specifically relates to the technical field of unmanned aerial vehicles. Relevant information and the relevant information of the target that needs to be obtained by the drone, then calculate the Euclidean distance from the drone's site to all the targets and the Euclidean distance between all the targets, and then establish the variable income of the heterogeneous drone The HU‑TAP‑VP model of the task assignment problem obtains the initial task assignment scheme set for performing cooperative tasks, and finally uses the hybrid genetic simulated annealing algorithm HGSA with the introduction of the adaptive switching mechanism to optimize, so as to obtain the safe flight path of each UAV . Based on the method provided by the embodiment of the present invention, a high-quality task allocation scheme can be quickly obtained under complex and dangerous scenarios, and the access path of each UAV to the target can be optimized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a heterogeneous multi-unmanned aerial vehicle cooperative task allocation and path optimization method. Background technique [0002] At present, UAVs have been widely used in complex and dangerous scenarios such as military target reconnaissance and post-earthquake reconnaissance. Due to the high time sensitivity of these tasks and certain requirements for the quality of task completion, a single UAV It is often impossible to complete the above tasks, and multiple heterogeneous UAVs are required to complete the above tasks. UAVs can be equipped with different types of sensors to obtain images of targets, such as: taking pictures of military targets or buildings in earthquake-stricken areas through visible light radar and synthetic aperture radar. Synthesizing the images obtained by different types of sensors can greatly improve the credibility of the informatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 罗贺朱默宁杨善林王国强胡笑旋马华伟唐奕城靳鹏夏维
Owner HEFEI UNIV OF TECH
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