Distributed online collaborative regional reconnaissance method and device for unmanned aerial vehicle clusters

Abstract

The invention discloses a reconnaissance method and device for distributed online cooperative area of ​​UAV clusters. The method includes: dividing the task area into grids of the same size, and each UAV uses the form of local storage matrix data to maintain the grid respectively. Grid map; online evaluation of the state transition of adjacent areas, and calculate the next optimal or better movement direction within the performance constraints; when the drone's adjacent areas have been scouted, the drone passes through the hierarchical area The division and task allocation mechanism calculates the optimal area transfer direction. Therefore, while realizing online collaborative real-time planning based on the probability map, by rationally designing the comprehensive evaluation function, the global experience advantages of the traditional offline planning method are integrated, and the cooperative reconnaissance of UAV clusters is improved through the boundary search and regional weight coordination allocation mechanism. overall efficiency.

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

Images