Cluster unmanned aerial vehicle path assignment method, control system, storage medium and unmanned aerial vehicle

Abstract

The invention belongs to the technical field of cluster unmanned aerial vehicle path planning, and discloses a cluster unmanned aerial vehicle path assignment method, a control system, a storage medium and an unmanned aerial vehicle. An initial position dot matrix L1 of an unmanned aerial vehicle array and a target position dot matrix L2 of the unmanned aerial vehicle array are obtained by conversion according to the shape and sequence of the unmanned aerial vehicle array. The number of the unmanned aerial vehicle position dot matrix is 1-n; A number mapping mode from the unmanned aerial vehicle in the initial position dot matrix L1 to the target position dot matrix L2 is determined; the unmanned aerial vehicle in the initial position dot matrix L1 flies to the corresponding position in the target dot matrix L2 according to the number mapping mode; and if the unmanned aerial vehicle arriving at the target point firstly shields the unmanned aerial vehicle arriving later, the target point positions of the two unmanned aerial vehicles are exchanged. The method is suitable for solving the problem of quickly and effectively calculating the path assignment during the formation flight ofthe cluster unmanned aerial vehicles, remarkably shortens the path transformation time of the unmanned aerial vehicles, improves the flight safety, and improves the success rate of path transformation.

Description

technical field [0001] The invention belongs to the technical field of path planning for clustered unmanned aerial vehicles, and in particular relates to a path assignment method for clustered unmanned aerial vehicles, a control system, a storage medium and an unmanned aerial vehicle. Background technique [0002] At present, during the UAV light show, it is necessary to change from one static picture to another. During the picture change process, the performance formation of the UAV is relatively messy, and the lights are generally turned off. [0003] Due to the limited endurance of UAVs, in order to increase the number of UAV light show pictures and increase the duration of UAV light shows, it is necessary to shorten the time spent by UAVs in the path change process as much as possible. [0004] Through the above analysis, the problems and defects in the prior art are: [0005] (1) The traditional path assignment method has the problem of huge amount of calculation and l...

AI Technical Summary

Problems solved by technology

[0005] (1) The traditional path assignment method has the problem of huge amount of calculation and long calculation time. For thousands of UAV swarm performances, the traditional path assignment method takes several hours to calculate once, which is difficult to implement in actual projects. application

[0006] (2) The calculation result of the traditional path assignment method is only a local optimal problem, which leads to a long time for the path change of the UAV group, and there are a large number of path intersection and avoidance in the calculation results, which increases the interaction between UAVs. risk of collision

[0007] (3) The traditional path assignment method cannot deal with some complex path change problems, and the path change success rate of the UAV group is very low

[0008] The difficulty of solving the above problems and defects is: assuming that the number of drones in the formation is N, then there are N possible ways to assign drones! Kind, when solving this assigned problem, need to be in N! To find the optimal solution in a combination, the amount of calculation is very large, and it is impossible to complete the calculation in a limited time according to the traditional calculation method.

At the same time, the assignment results calculated by the traditional algorithm make the UAVs cross too much, increasing the risk of UAVs colliding with each other.

Images