Relay charging path planning method and system for small unmanned aerial vehicle

Abstract

The embodiment of the invention provides a relay charging path planning method and system for a small unmanned aerial vehicle. The method comprises the following steps: according to a heuristic valueof pheromone concentration between adjacent target points, a heuristic value of a path distance between the adjacent target points and a heuristic value of a time window of the adjacent target pointsin an ant colony algorithm, establishing an initial path by utilizing an adjacent point search algorithm; inserting a charging station into the initial path according to the maximum endurance mileageof an unmanned aerial vehicle to form an initial charging path; and determining a final charging path by performing removal operator optimization and insertion operator optimization on the initial charging path. According to the technical scheme, an optimal charging station insertion heuristic algorithm is designed in consideration of selection of the charging station and determination of the charging level; and in view of the complexity of the problem, a local search algorithm is introduced, the search space in the ant colony algorithm iteration process is expanded, and the search probabilityof the optimal solution is increased.

Description

technical field [0001] The invention relates to a method and system for planning a relay charging path of a small unmanned aerial vehicle. Background technique [0002] With the improvement of the high-tech combat system, the timely acquisition of battlefield information and the increasingly fierce competition for space in modern warfare have put forward higher requirements for the acquisition of combat object position information and target reconnaissance. The current military reconnaissance methods mainly include satellite remote sensing reconnaissance, manned aircraft reconnaissance and unmanned aerial vehicle reconnaissance. Among them, unmanned aerial vehicle reconnaissance has gradually been widely used because of its characteristics of no risk of casualties, flexible deployment, and timely response. At the same time, the rapid development of sensor technology, information transmission network and aircraft platform provides strong technical support for UAV reconnaissan...

AI Technical Summary

Problems solved by technology

However, the cruising range of small UAVs is short, and the radius of its service range is limited accordingly after starting from the base, which greatly reduces the efficiency of

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