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

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...

AI Technical Summary

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 missed areas that are over-dispersed in the early stage, resulting in repeated coverage of the later reconnaissance search path, reconnaissance, and reconnaissance. The problem of low efficiency

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