Unmanned aerial vehicle and vehicle task allocation method and system under air-ground cooperation

A technology of air-ground coordination and task assignment, which is applied in control/regulation systems, vehicle position/route/height control, instruments, etc., to achieve the effect of improving patrol efficiency

Active Publication Date: 2021-11-19
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a task assignment method and system for UAVs and vehicles under air-ground coordination, which solves the problem of how to carry out task assignment between UAVs and vehicles under air-ground coordination

Method used

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  • Unmanned aerial vehicle and vehicle task allocation method and system under air-ground cooperation
  • Unmanned aerial vehicle and vehicle task allocation method and system under air-ground cooperation

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Embodiment 1

[0120] The present invention provides a method of dispensing the mandate assignment of the drone and the vehicle in a vacant synergistic, including:

[0121] Get the parameter collection of drone, vehicles, tasks and road road networks;

[0122] Get the constraint conditions under the preset empty collaboration, and the total time consumed by the drone and the vehicle to return to the starting point, the total time consumption is minimized for the target function, and build the task allocation model of the drone and the vehicle under the air.

[0123] The task allocation model is solved by the preset algorithm, obtaining the drone execution task scheme and vehicle execution task scheme.

[0124] The beneficial effect of this embodiment is:

[0125] Ground cooperation proposed UAV 1. The present invention allows the ability to access all of the tasks in the presence of a life time constraints.

[0126] 2. Splitting the air-ground vehicle UAV constructs, can effectively provide fast a...

Embodiment 2

[0200] The present invention further provides a system for task allocation UAV ground cooperation with the vehicle, said system comprising:

[0201] Parameter acquisition module for acquiring a set of parameters drones, vehicles, missions and the road network;

[0202] Task allocation model constructing module, for acquiring the constraint condition under a predetermined air-ground, and unmanned aerial vehicles and vehicle to perform all tasks Back End starting total time consumed as the objective function, constructed under ground cooperation UAV and task allocation model vehicles;

[0203] Model Solution module for task allocation model is solved with a preset algorithm, UAV mission programs and vehicles on missions program.

[0204] It is appreciated that the space provided in the embodiment of the present invention UAV cooperative task distribution system of the vehicle above the air-ground task allocation method corresponding to the vehicle UAVs, explanation about the content...

Embodiment 3

[0206] There is provided a computer-readable storage medium that stores the computer program UAV ground cooperation tasking vehicle, wherein, said computer program causing a computer to execute the above-described cooperative task space of the vehicle UAVs allocation method.

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Abstract

The invention provides an unmanned aerial vehicle and vehicle task allocation method and system under air-ground cooperation, which relate to the technical field of unmanned aerial vehicles. The method comprises the steps of firstly obtaining a parameter set of an unmanned aerial vehicle, a vehicle, a task and a road network, then acquiring a preset constraint condition in an air-ground cooperation mode, and constructing a mixed integer programming model of task allocation of the unmanned aerial vehicle and the vehicle under air-ground cooperation by taking the minimum total time consumed by the unmanned aerial vehicle and the vehicle for executing all tasks and returning to a starting point as an objective function, and solving the task allocation model by using a preset algorithm, and finally obtaining an unmanned aerial vehicle task execution scheme and a vehicle task execution scheme. The method and system provided by the invention can optimize a set of unmanned aerial vehicle and vehicle task execution, improve the task execution efficiency, and realize cooperative task execution of the unmanned aerial vehicle and the vehicle.

Description

Technical field [0001] The present invention relates to the field of drone, and more particularly to a mandatory method and system for drone and a vehicle in a vacant synergistic. Background technique [0002] Optimization of drone and vehicle mission offset under the empty collaboration, by utilizing the performance complement between the drone and the vehicle, it can greatly improve the efficiency of the task compared to the traditional vehicle mode. The choice of collaborative model between drones and vehicles has a certain impact on the capabilities of drones and vehicle access tasks. [0003] like figure 1 As shown, the empty collaborative model proposed in this paper enhances the accessibility of the drone to the task compared to the existing synergistic manner, and enables the drone and the vehicle to access all tasks. [0004] However, the air-building synergistic mode of this paper will make the task allocation scheme more likely to further increase the optimization diff...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02T10/40
Inventor 罗贺李娅陈盈盈吕欠伟王国强胡笑旋李晓多曹欣程鹏飞朱默宁唐奕城靳鹏马华伟夏维
Owner HEFEI UNIV OF TECH
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