Multi-unmanned aerial vehicle cooperative search method under communication constraint

Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative search method under communication constraint, which belongs to the field of unmanned aerial vehicle regulation and control, and comprises the following steps of: firstly, determining the coverage area of each unmanned aerial vehicle; secondly, carrying out two-dimensional gridding processing on a given search region, and calculating an area coverage rate corresponding to each unmanned aerial vehicle at each moment; thirdly, setting an initial position, a speed and a direction of each unmanned aerial vehicle randomly , and determining a communication distance d between the unmanned aerial vehicles according to the communication quality; fourthly, establishing two neural networks with identical structures and different parameters for each unmanned aerial vehicle in each flight control system, and initializing the neural networks; fifthly, respectively calculating a node position of each unmanned aerial vehicle at the next moment by using the initialized unmanned aerial vehicles and a neural network, updating corresponding neural network parameters, carrying out loop iteration, and connecting all nodes to obtain a corresponding search path; and finally, enabling each unmanned aerial vehicle to fly according to the respective search path to complete the search task. According to the multi-unmanned aerial vehicle cooperative search method, the maximum search range is achieved, and meanwhile the communication quality is guaranteed.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, in particular to a multi-unmanned aerial vehicle cooperative search method under communication constraints. Background technique [0002] With the continuous development of UAV technology and the continuous improvement of popularity, UAVs have been widely used in military fields, search and rescue fields, disaster monitoring, news reports, logistics and transportation and other fields. In the above applications, it is not difficult to find that with the increase in the complexity of UAV application scenarios, only relying on a single UAV can no longer meet the demand, and the task of a single UAV is also insufficient. Therefore, the multi-UAV cooperative system has been paid more and more attention by researchers. [0003] The most important thing in UAV search and rescue is search. In order to carry out search tasks conveniently, it is necessary to establish a multi-UAV coordinati...

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Problems solved by technology

[0008] Aiming at the problem that the communication quality between UAVs not only affects the information interaction between UAVs, but also reduces the search efficiency and presents potential safety hazards, in order to solve the problems of how to select the search area and how to search, the present invention proposes a The multi-UAV cooperative search method under communication constraints aims to find an optimal cooperative path scheme for an area, so that the search area can be maximized while the search time can be minimized under the premise of ensuring the communication quality (Qos).

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