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

A genetic algorithm and multi-UAV technology, applied in the field of multi-UAV collaborative mission planning based on clustering and genetic algorithms, to achieve optimal energy consumption, reduce error rates, improve flight efficiency and energy utilization

Active Publication Date: 2021-04-30
中科大数据研究院
View PDF15 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 a

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-unmanned aerial vehicle cooperative task planning method based on clustering and genetic algorithm
  • Multi-unmanned aerial vehicle cooperative task planning method based on clustering and genetic algorithm
  • Multi-unmanned aerial vehicle cooperative task planning method based on clustering and genetic algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] Embodiment 1: This embodiment starts with obtaining the mission waypoint, and determines the mission waypoint according to the type of mission. If the UAV needs to completely cover the entire area, the division can be determined according to the coverage of the sensor or camera mounted on the UAV. According to the specifications, the area to be measured is gridded by using the grid segmentation method, and the point to be measured is the center of each grid. Taking K UAVs as an example to coordinate the inspection of the rectangular area S to complete a multi-UAV coordination mission planning process.

[0041] Step 1. Obtain waypoints

[0042] There are multiple pre-marked important task points in the rectangular area S to be inspected, and they together form the task waypoint set of the inspection task And determine the coordinates of all task points in the area S.

[0043] Step 2. Assignment of tasks

[0044] A total of K drones UAV = {UAV 1 ,UAV 2 ,…,UAV k} is...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/10G06K9/62G06N3/12
CPCG05D1/104G06N3/126G06F18/23
Inventor 王煜炜薛晶晶刘敏付艳波王元卓
Owner 中科大数据研究院
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap