Unmanned aerial vehicle cluster distributed online cooperative region reconnaissance method and device

A UAV, distributed technology, applied in instruments, data processing applications, geographic information databases, etc., can solve the problems of repeated coverage of reconnaissance search paths, low reconnaissance efficiency, etc., to reduce the problem of missing areas and improve the overall efficiency.

Active Publication Date: 2020-09-22
TSINGHUA UNIV +1
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Problems solved by technology

This type of method can realize distributed and online multi-UAV collaborative search, which has the advantage of strong robustness. However, the current method based on probability maps has mi

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  • Unmanned aerial vehicle cluster distributed online cooperative region reconnaissance method and device
  • Unmanned aerial vehicle cluster distributed online cooperative region reconnaissance method and device
  • Unmanned aerial vehicle cluster distributed online cooperative region reconnaissance method and device

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[0029] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0030] The following describes the method and device for distributed online collaborative area reconnaissance of drone clusters according to the embodiments of the present invention with reference to the accompanying drawings.

[0031] First, the distributed online collaborative area reconnaissance method of UAV clusters according to the embodiments of the present invention will be described with reference to the accompanying drawings.

[0032] figure 1 It is a flowchart of a distributed online coordin...

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Abstract

The invention discloses an unmanned aerial vehicle cluster distributed online cooperative region reconnaissance method and device, and the method comprises the steps of dividing a task region into grids with the same size, and enabling each unmanned aerial vehicle to maintain a grid map in a mode of local storage matrix data; carrying out online evaluation on the state transition of the adjacent region, and calculating the optimal or better motion direction of the next step in a performance constraint range; and when reconnaissance of adjacent areas of the unmanned aerial vehicle is completed,enabling the unmanned aerial vehicle to calculate the optimal area transfer direction through hierarchical area division and task allocation mechanisms. Therefore, on-line collaborative real-time planning is realized based on the probability map, the global experience advantages of a traditional off-line planning mode are fused by reasonably designing a comprehensive evaluation function, and theoverall efficiency of collaborative reconnaissance of the unmanned aerial vehicle cluster is improved through a boundary search and regional weight coordinated distribution mechanism.

Description

technical field [0001] The present invention relates to the technical field of self-organizing collaborative search and distributed online task planning, and in particular to a distributed online collaborative area reconnaissance method and device for UAV clusters. Background technique [0002] With the increasing complexity of the task environment, the effectiveness of a single platform will be extremely limited, and the use mode of mobile robots and UAV platforms will gradually develop from a single platform to a more flexible multi-machine collaboration method. For the problem of reconnaissance in unknown areas, UAV cluster coordination can greatly improve the speed of regional reconnaissance and enhance the adaptability to uncertain factors such as environmental changes and sudden failure of UAVs. Efficient mission planning is an important prerequisite for taking advantage of multi-UAV collaboration. [0003] Currently, task planning methods for UAV swarms can be divide...

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Application Information

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IPC IPC(8): G06Q10/06G06F16/29
CPCG06Q10/06312G06F16/29
Inventor 张涛朱凯韩斌陈学东梁承元
Owner TSINGHUA UNIV
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