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A multi-UAV cooperative wide-area moving target search method based on hybrid mechanism

A multi-UAV and search method technology, which is applied in the direction of control/regulation system, non-electric variable control, three-dimensional position/channel control, etc., can solve the problems of wide task area, long search task time, and low search efficiency. Achieve the effects of shortening search time, improving optimality and engineering practicability, and improving efficiency

Active Publication Date: 2022-04-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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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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  • A multi-UAV cooperative wide-area moving target search method based on hybrid mechanism
  • A multi-UAV cooperative wide-area moving target search method based on hybrid mechanism
  • A multi-UAV cooperative wide-area moving target search 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-UAV cooperative wide-area moving target search method based on a hybrid mechanism, which belongs to the field of UAV cooperative search targets. 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 collaborative wide-area moving target search method. This method combines the advantages of coverage search and information map-based search methods. According to the probability of target existence, the task area is divided into key areas and general areas. The key area is preferentially searched by scanning line coverage, and the general area is searched by using the pheromone-based mechanism. On this basis, the rolling time-domain optimization method is used to optimize the trajectory of each UAV online. This method can quickly search for moving targets in the mission area, generate flightable tracks of multiple UAVs online, and effectively shorten the search mission time.

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 collaborative 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 t...

Claims

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Application Information

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Patent Type & Authority Patents(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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