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Unmanned aerial vehicle cluster flight path planning method considering DSM for emergency task

A track planning and unmanned aerial vehicle technology, applied in the field of disaster emergency monitoring and unmanned aerial vehicle track planning, can solve problems such as poor planning effect, and achieve the effect of good practicability, feasibility and good adaptability

Pending Publication Date: 2021-02-26
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention proposes a UAV swarm track planning method that takes DSM emergency tasks into account, and is used to solve or at least partially solve the technical problem of poor planning effect existing in the methods of the prior art

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  • Unmanned aerial vehicle cluster flight path planning method considering DSM for emergency task
  • Unmanned aerial vehicle cluster flight path planning method considering DSM for emergency task
  • Unmanned aerial vehicle cluster flight path planning method considering DSM for emergency task

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Embodiment Construction

[0061] Aiming at the problems of low solution quality and slow solution speed in solving large-scale global allocation problems in the prior art, the local three-dimensional space search accuracy of UAVs is not high, and it is easy to fall into a local deadlock, resulting in poor track planning effects. The embodiment of the invention provides a UAV cluster track planning method considering the emergency task of DSM, which improves the search accuracy, can obtain the optimal solution, and improves the track planning effect.

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments ...

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Abstract

The invention relates to an unmanned aerial vehicle cluster flight path planning method considering a DSM for an emergency task. The method comprises the steps of step 1, acquiring position parameters, range parameters, time parameters and the like of a to-be-observed area of an emergency task; step 2, according to the satellite image, the digital surface model (DSM) and a map, constructing a to-be-observed area environment model by using a geographic information technology; step 3, constructing a multi-unmanned aerial vehicle task allocation model, and obtaining observation subtasks of each unmanned aerial vehicle through solving based on a Gaussian linear differential decline quantum particle swarm algorithm; step 4, constructing an unmanned aerial vehicle flight path planning model, andsolving the unmanned aerial vehicle flight path planning model based on a Gaussian longicorn beard quantum particle swarm algorithm to obtain an observation flight path of each unmanned aerial vehicle; and step 5, carrying out smoothing processing on the generated observation flight path. The unmanned aerial vehicle cluster flight path planning method can realize unmanned aerial vehicle cluster flight path planning and improve the planning effect.

Description

technical field [0001] The invention relates to the field of disaster emergency monitoring and the technical field of unmanned aerial vehicle track planning, in particular to an unmanned aerial vehicle group track planning method that takes DSM emergency tasks into consideration. Background technique [0002] In recent years, drones have received more and more attention, both in scientific research and in the application market. At the same time, with the rapid development of related technologies, the capabilities of UAVs have been continuously enhanced and their cost performance has been significantly improved, which has accelerated their application in related civilian and military fields. However, limited by the current level of science and technology, the current application of UAVs is mainly to use a small number of UAVs to try to complete tasks in a relatively simple environment. For tasks in complex environments, especially when it is necessary to dispatch UAV swarm ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/006
Inventor 孟庆祥向枫钟源
Owner WUHAN UNIV