Multi-center unmanned aerial vehicle selection method for unmanned aerial vehicle distributed task planning

A mission planning and unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicles, can solve the problems of large amount of communication information, the amount of communication information or the exponential increase in the number of information interactions, and achieve the effect of reducing the amount of communication information and reducing the number

CN113641188APending Publication Date: 2021-11-12SICHUAN AEROSPACE SYST ENG INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-11-12

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Abstract

The invention discloses a multi-center unmanned aerial vehicle selection method for unmanned aerial vehicle distributed task planning. The method comprises the following steps: inputting source data to all other unmanned aerial vehicles through a data acquisition module of each unmanned aerial vehicle in an unmanned aerial vehicle group; generating a direct communication link between every two unmanned aerial vehicles of the unmanned aerial vehicle group; determining a central unmanned aerial vehicle; and determining a communication link between the central unmanned aerial vehicles. According to the method, the plurality of central unmanned aerial vehicles can be quickly elected to continue to execute task planning, on one hand, the unmanned aerial vehicle group can be prevented from being paralyzed when single-point failure occurs, and on the other hand, the number of the unmanned aerial vehicles participating in task planning can be effectively reduced, so that the communication information amount is reduced.
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Description

technical field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-center unmanned aerial vehicle selection method for centralized and distributed mission planning of unmanned aerial vehicles. Background technique

[0002] With the advantages of adaptability, flexibility and low cost in 4D ("Dall", "Dirty", "Dangerous", "Deep") environments, UAVs are increasingly used in complex mission scenarios, such as battlefields Intelligence collection and attack, urban fire extinguishing, unmanned express delivery, power grid inspection, plant protection, etc. Among them, in the process of cooperative mission execution by multiple UAVs or UAV clusters, due to the constraints of mission requirements, flight environment and UAVs themselves, complex mission planning problems need to be solved. The mission planning problem is to find the optimal match between UAVs and tasks given N available UAVs and M tasks, so as to maximize the to...

Examples

Embodiment

[0028] Such as figure 2 As shown, a multi-center UAV selection method for UAV distributed mission planning, including:

[0029] S1 initialization, input initial data to each UAV through the data acquisition module of the UAV group;

[0030] All drones need to have two-way communication function, broadcast communication function, have a certain computing power and can execute mission planning algorithm independently; all drones are numbered sequentially, and the drone numbered i represents the i-th drone; All drones carry synchronized clocks; drone i considers the winner of the central drone to be the variable W i , and initialized to i, ie itself;

[0031] S2. Each UAV generates a direct communication link:

[0032] S2a. At time t0, all drones broadcast status information to their surroundings within the agreed time;

[0033] S2b. At time t1, UAV i (taking all numbers) records the number of state information pieces received during S2a, and sorts out the number set of UAVs...