Unmanned aerial vehicle cluster real-time track generation method based on dimension reduction and decoupling mechanisms

A technology of unmanned aerial vehicle and implementation method, applied in directions such as navigation calculation tools

Pending Publication Date: 2020-10-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention can generate a safe cluster track within a limited time, guide the UAV cluster to fly in a complex environment, and then realize the coordinated flight of the large-scale drone cluster, and solve the corresponding problems in the field of large-scale drone cluster planning

Method used

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  • Unmanned aerial vehicle cluster real-time track generation method based on dimension reduction and decoupling mechanisms
  • Unmanned aerial vehicle cluster real-time track generation method based on dimension reduction and decoupling mechanisms
  • Unmanned aerial vehicle cluster real-time track generation method based on dimension reduction and decoupling mechanisms

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example 1

[0075] The simulation hardware is Intel Core i7-6700 CPU 3.40GHz, 8G memory, and the simulation environment is MATLABR2017b. The formations of 20, 30, 40, and 50 UAVs perform tasks in a three-dimensional environment of 14km×14km×2.5m, and the terrain is generated by the simulation function method. A formation reconstruction plan was designed, requiring UAVs to fly from a double-row formation to a V formation.

[0076] Such as Picture 9 As shown, this embodiment discloses a method for generating a real-time track of a drone cluster based on a dimensionality reduction and decoupling mechanism. The specific implementation steps are as follows:

[0077] Step 1: Input mission information, UAV performance information, and trajectory planning algorithm parameters to initialize parameter information.

[0078] In this case, the UAV's uniform speed v and maximum turning angle δ max 、Maximum climb angle / downward angle They are set to 20m / s, 45° and 15°, and at the same time, the number of ...

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Abstract

The invention discloses an unmanned aerial vehicle cluster real-time track generation method based on dimension reduction and decoupling mechanisms, belonging to the technical field of track planning.The method comprises the following steps: firstly, completing initialization of parameter information, and establishing a track discretization model, an unmanned aerial vehicle flight constraint model and an unmanned aerial vehicle cluster track planning problem model; secondly, under a rolling planning framework, decomposing an unmanned aerial vehicle cluster planning problem into a plurality ofshort-time-domain single-machine track planning problems by adopting a priority decoupling mechanism, and solving the single-machine track planning problems by using a sparse A * algorithm; judging whether a priority planning cycle is finished or not in a current rolling time domain, and updating unmanned aerial vehicle track planning task information; and judging whether the rolling planning time domain cycle meets a termination condition or not so as to complete rapid generation of an unmanned aerial vehicle cluster track. According to the invention, a safe cluster track can be generated within limited time, an unmanned aerial vehicle cluster is guided to fly in a complex environment, large-scale cooperative flight of the unmanned aerial vehicle cluster is realized, and corresponding problems in the field of large-scale unmanned aerial vehicle cluster planning are solved.

Description

Technical field [0001] The invention discloses a real-time track generation method of an unmanned aerial vehicle cluster based on a dimensionality reduction decoupling mechanism, which belongs to the technical field of track planning. Background technique [0002] Thanks to the latest achievements in the fields of robotics, automation and communications, group cooperation inspired by ants, birds, fish and wolves has become an important development trend for unmanned systems. The natural quantitative advantage of the group overcomes the shortcomings of a single agent's limited ability to perform tasks and low agent resistance to loss. Unmanned Aerial Vehicles (UAV) groups can effectively perform various tasks including search and rescue, express delivery, and aerial photography by virtue of their low cost, operability and flexibility. [0003] Track planning is one of the key technologies for UAV missions. Existing mature trajectory generation methods such as rapid expansion of ra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 龙腾桑田徐广通孙景亮曹严
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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