A UAV path planning method to minimize the number of UAVs

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...

Images