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Multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on hybrid mechanism

A multi-UAV, search method technology, applied in the direction of non-electric variable control, control/regulation system, three-dimensional position/channel control, etc., can solve the problems of low search efficiency, long search task time, wide range of task areas, etc.

Active Publication Date: 2021-05-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention aims at problems such as wide task area, low search efficiency, long search task time, and direct discretization heading angle in the existing multi-UAV cooperative wide-area moving target search method. UAV cooperative wide-area moving target search method

Method used

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  • Multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on hybrid mechanism
  • Multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on hybrid mechanism
  • Multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on hybrid mechanism

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Embodiment 1

[0047] In order to verify the feasibility and beneficial effects of a multi-UAV cooperative wide-area moving target search method based on a hybrid mechanism disclosed in the present invention, the technical solution of the present invention is described clearly and in detail in a case below, and the flow of the method Figure such as figure 1 shown.

[0048] This example discloses a multi-UAV cooperative wide-area moving target search method based on a hybrid mechanism, including the following steps:

[0049] Step 1: Initialize parameters and establish multi-UAV collaborative search model.

[0050] 1) Initialization parameters include: task area length L, width W; sensor detection probability P D and the range R; the initial position of the UAV; the initial existence probability of the target p i (x n ,x n ,t 0 ); Ant colony algorithm parameters: pheromone concentration factor α and coverage heuristic factor β. pheromone concentration κ i (x n ,y n ,t 0 );

[0051]...

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Abstract

The invention relates to a multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on a hybrid mechanism, and belongs to the field of unmanned aerial vehicle cooperative target searching. The invention provides the multi-unmanned aerial vehicle cooperative wide-area moving target searching method based on the hybrid mechanism to solve the problems that an existing multi-unmanned-aerial-vehicle cooperative wide-area moving target searching method is wide in task area range, low in searching efficiency, too long in task searching time, direct in course angle discretization and the like. The multi-unmanned aerial vehicle cooperative wide-area moving target searching method integrates the advantages of coverage search and an information graph-based search mode, divides a task area into a key area and a general area according to the target existence probability, preferentially covers and searches the key area by using a scanning line, and searches the general area by using a pheromone-based mechanism. On the basis, the track of each unmanned aerial vehicle is optimized in an online rolling manner by adopting a rolling time domain optimization method. According to the method, the moving target in the task area can be quickly searched, the flight paths of a plurality of unmanned aerial vehicles can be generated online, and the task searching time is effectively shortened.

Description

technical field [0001] The invention relates to a multi-UAV cooperative wide-area moving target search method based on a hybrid mechanism, which belongs to the field of UAV cooperative search targets. Background technique [0002] Multi-unmanned cooperative search problem is one of the main applications of UAV cooperation, which is widely used in civilian and military fields. Compared with general area search, the problem of multi-UAV wide-area cooperative moving target search has the characteristics of wide task area, large number of UAVs, general low-speed movement of targets, and unacceptable search task duration. It needs to be designed more efficiently and practically. Multi-UAV cooperative search method. [0003] Multi-UAV wide-area cooperative moving target search strategies are mainly divided into two strategies: coverage traversal search and information graph-based search. Coverage traversal search mainly uses scan lines to perform coverage traversal search on the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101G05D1/104
Inventor 刘莉田维勇穆寒葛佳昊王秋生
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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