Multi-UAV trajectory optimization method, device, storage medium and computer equipment

A multi-UAV, trajectory optimization technology, applied in the UAV field, can solve the problems of low efficiency, low coverage, repeated exploration, etc.

Active Publication Date: 2022-02-01
NORTHEASTERN UNIV LIAONING
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Problems solved by technology

[0003] In view of this, the present invention provides a multi-UAV trajectory optimization method, device, storage medium and computer equipment, the main purpose of which is to solve the problems of low efficiency and low coverage in the trajectory optimization method of multi-UAV cooperative formation flight , and it is prone to the problems of drones colliding with each other and repeated exploration

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  • Multi-UAV trajectory optimization method, device, storage medium and computer equipment
  • Multi-UAV trajectory optimization method, device, storage medium and computer equipment
  • Multi-UAV trajectory optimization method, device, storage medium and computer equipment

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[0071] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0072] As mentioned in the background technology, at present, the trajectory optimization method for multi-UAV cooperative formation flight has problems such as low efficiency and low coverage, and it is prone to mutual collision and repeated exploration of UAVs, which limits multi-UAV Application and development of collaborative formations.

[0073] In order to solve the above problems, the embodiment of the present invention prov...

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Abstract

The invention discloses a multi-UAV trajectory optimization method, device, storage medium and computer equipment, and relates to the technical field of UAVs. Low rate and other problems, and it is prone to the problems of UAVs colliding with each other and repeated exploration. The method includes: using a preset production function and the coverage points of each UAV to plan the trajectory of each UAV to obtain a separate closed path for each UAV; The separate closed path of each unmanned aerial vehicle is described, the trajectory plan of each unmanned aerial vehicle is obtained, and the trajectory plan of each unmanned aerial vehicle is merged into the trajectory plan of the multi-unmanned aerial vehicle group; according to the multi-unmanned aerial vehicle group The trajectory planning of generates timetables for trajectory optimization of multiple UAVs. The invention is suitable for trajectory optimization of multiple unmanned aerial vehicles.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-unmanned aerial vehicle trajectory optimization method, device, storage medium and computer equipment. Background technique [0002] UAVs have the characteristics of good mobility, convenient use, and no risk of casualties. Therefore, in recent years, they have been widely used in various fields such as military fields, agriculture, forestry and plant protection, express transportation, and disaster relief. When a single UAV performs patrol, target search and target tracking tasks in a complex environment, due to reasons such as high obstacle density, limited airspace, and insufficient airborne sensor capabilities, the single-plane observation has narrow observation range, low observation accuracy, and easy target detection. However, multi-machine cooperation can obtain a larger observation range, observation accuracy and better resistance to loss. When ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 陈豹马宏军白桦
Owner NORTHEASTERN UNIV LIAONING
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