Cluster unmanned aerial vehicle cooperative work system and method based on intelligent optimization
A collaborative work system and intelligent optimization technology, applied in control/regulation systems, instruments, three-dimensional position/channel control, etc., can solve problems such as insufficient endurance, low efficiency of task execution, limited load, etc., to achieve high solution efficiency and improve convergence The effect of speed, fast convergence speed
Active Publication Date: 2021-06-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0006] The technical problem to be solved by the present invention is to provide a system and method for collaborative work of clustered drones based on intelligent optimization, which solves the problem of low efficiency and insufficient battery life in the prior art when clustered drones are placed in complex scenarios. , limited load, etc.
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[0057] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0058] The present invention proposes a system and method based on intelligent optimization for the collaborative work of cluster drones, which can play a role in multiple fields such as civil, commercial, and military. Taking multiple aerial agents and one ground control system as an example, such as figure 1 shown.
[0059] An intelligent optimization-based cluster unmanned aerial vehicle cooperative work system includes a measurement and control data transmission system and an air intelligence system. The measurement and control digital transmission system includes the ground measurement and control computer and the first XBee wireless transceiver, which mainly comp...
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The invention discloses a cluster unmanned aerial vehicle cooperative work system and method based on intelligent optimization. The cluster unmanned aerial vehicle cooperative work system comprises an air intelligent system carrying an electronic compass, an attitude sensor, an optical flow sensor, a monocular camera, a second XBee wireless transceiver and a controller; and a measurement and control data transmission system carrying a ground measurement and control computer and a first XBee wireless transceiver. The method comprises the following steps of: acquiring visual information in a position environment based on an improved AGAST visual positioning algorithm; improving a particle swarm algorithm to solve the task allocation model, and acquiring an optimal resource allocation scheme of the task; and planning the flight path of an unmanned aerial vehicle based on an NPF improved ant colony algorithm. According to the system and the method, system communication networking is realized based on the XBee wireless data transmission 802.15. 4 protocol, cluster information sharing is improved, task allocation and track planning optimization are carried out on cluster unmanned aerial vehicles placed in a complex environment, planning efficiency and positioning precision are improved, and the problems of low task efficiency, insufficient endurance, limited load and the like when a cluster is placed in a complex scene in the prior art are solved.
Description
technical field [0001] The invention relates to an intelligent optimization-based cluster UAV collaborative work system and method, and belongs to the technical field of UAV task distribution and track planning. Background technique [0002] In recent years, research on UAV swarm system has become a popular field in UAV research. With the emergence of emerging technologies such as artificial intelligence (AI) and machine learning, single drones are gradually eliminated when performing tasks due to their disadvantages such as small payloads and short battery life, and are replaced by unmanned aerial vehicles based on AI and aerospace technology. Machine coordination formation. Researchers have gradually expanded the application of multi-UAV collaboration in various complex mission environments, combined with satellite navigation technology, through the sharing of three-dimensional information of air, space and ground, to build a three-dimensional integrated network of air, s...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 刘海颖谢远龙孙颢李志豪王晓龙
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS