Multi-unmanned aerial vehicle cooperative route planning method for tracking ground target in dual-mode circling manner
A multi-drone, track planning technology, applied in mechanical equipment, combustion engines, navigation computing tools, etc., can solve problems that are rarely considered in the urban environment
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[0089] Aiming at the problem of conventional multi-drones Association is difficult to adapt to the urban environment, the present invention adopts a dual-mode switching tracking strategy that is a second mode switching tracking strategy for the main and avoidance mode to achieve the precise tracking of the ground objectivity. The dual-mode circle tracks the multi-drone association of the ground targets, which can be used to monitor and track the monitoring and tracking of low-speed moving targets in urban environments. The specific process is as follows:
[0090] 1. Take a multi-drone to track the surface target tracking of low-speed movement in the city, construct drone motion model, ground target motion model, and three-dimensional urban environment model.
[0091] First, a macro motion model is introduced, and the fixed wing drone model used in the present invention is a dual input drone motion model with speed and directional maintenance function, compared to the usual single ...
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