Multi-unmanned aerial vehicle cooperative task planning method based on clustering and genetic algorithm

Abstract

The invention belongs to the technical field of unmanned aerial vehicle systems, and particularly relates to a multi-unmanned aerial vehicle cooperative task planning method based on clustering and a genetic algorithm. According to the method, point cluster division of a plurality of task points is completed based on a K-means clustering algorithm, a multi-unmanned aerial vehicle collaborative planning energy consumption optimal track problem is simplified into a traveling salesman problem of a plurality of single unmanned aerial vehicles, a genetic algorithm is improved, a UAV waypoint planning optimization algorithm is provided based on the improved genetic algorithm to carry out track optimization, so that the energy consumption of the unmanned aerial vehicles is optimal, the problem that the actual energy consumption value is increased due to the environmental influence in the flight process and the route planning cannot be executed is avoided, and the flight efficiency and the energy utilization rate are improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle systems, and in particular relates to a multi-unmanned aerial vehicle cooperative task planning method based on clustering and genetic algorithms. Background technique [0002] In recent years, the basic economic strength of the world has been greatly improved, and science and technology have also gradually developed and improved. The research on drone technology has also made a big leap, and its application is very extensive. In many complex scenarios, a single UAV cannot meet people's expectations at all, so it is proposed to use multiple UAVs to achieve fast and efficient task execution. [0003] Comparing single-UAV and multi-UAV cooperation, it is found that the operation of a single UAV is simple and easy to implement, while when multiple UAVs perform tasks, they need to improve the collaborative planning between them, so the latter is more complicated to execute. There are ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects and problems existing in the cooperation of multiple UAVs at present, the present invention provides a multi-UAV cooperative task planning method based on clustering and genetic algorithms, so as to realize multi-UAV cooperative planning for navigation with optimal energy consumption Trajectory, so that the UAV can have a certain amount of energy reserves in case of emergency missions

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