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A UAV path planning method to minimize the number of UAVs

A path planning, UAV technology, applied in the field of communication, can solve the problem of not considering the distance between sensor nodes and the starting position of the UAV, and achieve the effects of expanding diversity, reducing costs, and reducing total energy consumption

Active Publication Date: 2022-06-07
XIDIAN UNIV
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Problems solved by technology

In this scheme, the node closest to the current sensor node is selected as the next node to be visited by the UAV every time, without considering the distance between the sensor node and the starting position of the UAV, and according to the UAV itself The optimal sensor node access method plans the path, which cannot avoid the impact on other drones, so the number of drones used is not necessarily the minimum

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  • A UAV path planning method to minimize the number of UAVs
  • A UAV path planning method to minimize the number of UAVs
  • A UAV path planning method to minimize the number of UAVs

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Embodiment Construction

[0049] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0050] refer to figure 1 , the present invention comprises the steps:

[0051] Step 1, initialization parameters:

[0052] (1a) Initialize the distribution on the ground where the coordinate position (0,0) of the central controller is O and there are K UAVs U={U 1 , U 2 ,…,U k ,…,U K }; Initialize I sensors distributed on the ground as A={A 1 ,A 2 ...A i ,...A I }, I≥2, the ith sensor A i The location coordinates of (x i ,y i ); the maximum energy of all drones is E th , the flight speed is v, and the flight energy consumption, hovering energy consumption and communication energy consumption per unit time are all e f , e h and e t , at the ith sensor A i The time of hovering and communication are both K≥1, in order to avoid wasting UAV resources, the number of UAVs in the network should not exceed the number of sensors...

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Abstract

The present invention proposes a UAV path planning method to minimize the number of UAVs, which mainly solves the problem of minimizing the number of UAVs in the existing UAV path planning scheme. The implementation steps are: 1) Initialize parameters; 2) Construct a set of sensors to be accessed and initialize a local optimal path set; 3) Calculate the flight energy consumption, hovering energy consumption and communication energy consumption of the UAV; 4) Use the improved ant colony algorithm to plan for a given number of UAVs Flight path, determine the local optimal path set; 5) According to the characteristics of the local optimal path set, obtain the UAV path planning results. The invention guarantees that on the basis of accessing all sensors, a minimum number of unmanned aerial vehicles is used to complete the task, thereby reducing system cost and reducing the total energy consumption of the unmanned aerial vehicles.

Description

technical field [0001] The invention belongs to the technical field of communication, relates to a UAV path planning method, and in particular relates to a UAV path planning method for minimizing the number of UAVs, which can be used for data collection under the condition of limited UAV cost. Background technique [0002] In recent years, UAV technology has developed rapidly and plays an important role in the military and civilian fields. The lightweight body and flexible movement allow the UAV to collect and transmit data in complex environments. In practical applications, whether it is a fuel-based drone or a rechargeable drone, the energy is limited, and the economic cost of purchasing a drone cannot be ignored. The price of a civilian drone can reach Hundreds of thousands of yuan, when using multiple drones to access sensor nodes, the more drones used, the greater the total cost of accessing sensor nodes. Therefore, in the UAV network, it is necessary to determine the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02D30/70
Inventor 赵林靖霍小露张岗山马建鹏李钊刘勤
Owner XIDIAN UNIV
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