Multi-unmanned aerial vehicle cooperative route planning method for tracking ground target in dual-mode circling manner

Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative route planning method for tracking a ground target in a dual-mode circling manner. An unmanned aerial vehicle kinematic model, a ground target motion model and a three-dimensional urban environment model are constructed; based on the obstacle avoidance requirements of the unmanned aerial vehicle and the high-rise building, a condition for switching between a circling mode and an obstacle avoidance mode is provided; a multi-objective optimization model is constructed under dual modes based on a multi-objective optimization algorithm of synchronous distributed model predictive control; a priority model is established based on a relaxation satisfaction sequence method to obtain a generalized fuzzy satisfaction target planning model; and based on the synchronous distributed model predictive control and fuzzy target planning method, the multi-unmanned aerial vehicle cooperative route planning model under dual modes is constructed. Tracking precision, energy saving and other performance indexes and different priority requirements are comprehensively considered, and based on the synchronous distributed model prediction control and fuzzy target planning method, a reliable flight path planning scheme is provided for multi-unmanned-aerial-vehicle cooperative target tracking on the premise that it is guaranteed that multi-unmanned-aerial-vehicle cooperative flight is safe and controllable.

Description

technical field [0001] The invention belongs to the field of track planning, and in particular relates to a multi-unmanned aerial vehicle cooperative track planning method for dual-mode circling tracking of ground targets. Background technique [0002] UAVs are small in size, high in flexibility, good in stability, and strong in adaptability. They can replace humans to complete some difficult tasks and undertake some special missions. civilian aspects. Since UAVs do not require manned flight and can avoid potential risks, they are often used to perform some complex and high-risk tasks, such as real-time monitoring and tracking of ground targets in urban scenes with harsh conditions and complex maps. However, the occlusion of buildings in the urban environment will affect the tracking effect. Therefore, in order to achieve higher tracking accuracy, multi-UAV cooperation is often required to complete the tracking task. [0003] Taking the complex urban environment as an exam...

AI Technical Summary

Problems solved by technology

However, there are few UAV cooperative track planning algorithms for target tracking at low speeds, and there are few considerations for obstacle avoidance in urban environments, so the present invention has important research significance

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