Unmanned aerial vehicle cluster cooperative coverage method based on swarm intelligence

Abstract

The invention discloses an unmanned aerial vehicle cluster distributed cooperative coverage method based on swarm intelligence, which is realized based on the thought of swarm intelligence, models thecoverage problem of unmanned aerial vehicles into a diffusion problem, and improves the coverage efficiency of the unmanned aerial vehicles by using a segmented coverage method and a pheromone model.Specifically, on the basis of the Fick law, an unmanned aerial vehicle cluster is modeled into a mass point group in a diffusion model, and the acceleration of a Fick model is obtained through calculation. Meanwhile, an unmanned aerial vehicle acceleration marble model is designed for unmanned aerial vehicle obstacle avoidance, and the acceleration of the marble model is obtained through calculation. In addition, the coverage speed of an unmanned aerial vehicle at a time inflection point is increased through the segmentation strategy and the pheromone model, and the coverage efficiency of theunmanned aerial vehicle cluster is further optimized. According to the method, the coverage efficiency of the unmanned aerial vehicle cluster can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a swarm intelligence-based cooperative coverage method for unmanned aerial vehicle clusters. Background technique [0002] In a self-organizing system composed of a group of ground agents, through the self-organization and self-coordination of the system, each member agent in the system and the whole system have the following characteristics: (1) Behavioral autonomy; (2) Agents only perform local information perception and indirect information interaction; (3) the whole system is a distributed system without global prior information; (4) leads to a collective behavior of the whole system, the above characteristics The concept of swarm intelligence can be described intuitively. [0003] In the UAV swarm system, the full coverage of the target area can be achieved through the control of the swarm to complete the scheduled tasks. The full coverage of the target ar...

AI Technical Summary

Problems solved by technology

The centralized coverage algorithm achieves the goal through the unified planning of the path of the UAV cluster by the ground control base station. Its performance depends on the complexity of the centralized algorithm and the computing power of the ground control system, and its scalability is poor. The system Communication bandwidth and software complexity will increase exponentially with the number of drones in the cluster

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