Multi-UAV cooperative search path planning method in key target sealing and control

Abstract

The invention discloses a multi-UAV cooperative search path planning method in key target sealing and control. The method includes the steps of: determining constraint conditions, constructing a UAV identification task assignment model; determining the encounter time between the UAV and the key target; key target data Preprocessing; initial chromosome gene information is obtained by clustering; the total flight time of the drone is calculated, and the corresponding fitness of the chromosome is calculated; inheritance, mutation and crossover are carried out according to the fitness of chromosomes in various groups; it is judged whether the genetic algebra is reached; the population is selected The best offspring of the genes that appeared in the genetic process are used as the result corresponding to the task sequence. The invention establishes a fast solution method for the encounter time between the UAV and the merchant ship through the transformation of the coordinate system, adopts Kmeans clustering to generate the initial population, greatly improves the feasibility of the initial solution, and adds local search in the mutation operation to ensure the diversity of the mutation , give the minimum number of drones and a reasonable disposal plan.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a multi-unmanned aerial vehicle cooperative search path planning method in key target sealing and control. Background technique [0002] Ensuring the safety of important targets and preventing emergencies are the primary duties and main tasks of the units and personnel involved in the containment task. Taking port sealing as an example, the key targets are merchant ships entering the port, which are roughly divided into three categories, namely, merchant ships transporting general daily necessities, merchant ships transporting major strategic materials such as oil or natural gas, and merchant ships transporting contraband such as weapons and equipment. . [0003] Existing means can find information such as the geographic location, course speed, and other information of merchant ships intending to enter the port at a relatively long distance, but the ...

AI Technical Summary

Problems solved by technology

[0003] Existing methods can find information such as the geographical location, course speed and other information of merchant ships intending to enter the port at a relatively long distance, but the nature of the cargo carried requires the use of drones to conduct close-in search

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