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multiUAV cooperative trajectory planning method and system, equipment and storage medium

A trajectory planning and trajectory technology, applied in control/regulation systems, non-electric variable control, instruments, etc., can solve problems that do not consider the coordination problem at the trajectory level

Pending Publication Date: 2021-11-26
湖南苍树航天科技有限公司
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Problems solved by technology

[0004] However, the above literatures mainly solve the coordination problem at the trajectory level, such as coordinating the arrival time of multiple UAVs as a whole, or coordinating multiple UAVs to reach the same target, but they do not consider the coordination problem at the trajectory level

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  • multiUAV cooperative trajectory planning method and system, equipment and storage medium

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Embodiment Construction

[0063] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in various ways defined and covered below.

[0064] Such as figure 1 As shown, the preferred embodiment of the present invention provides a kind of multi-UAV collaborative trajectory planning method, including the following content:

[0065] Step S1: Model the constraints and cost functions of each UAV in collaborative trajectory planning;

[0066] Step S2: using a B-spline curve to represent the trajectory of each UAV;

[0067] Step S3: The evolutionary algorithm is used to solve the multi-UAV cooperative trajectory planning problem, and a cooperative trajectory that meets the spatial and temporal coordination requirements is obtained.

[0068] It can be understood that in the multi-UAV cooperative trajectory planning method of this embodiment, the constraint model and objective function of the cooperativ...

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Abstract

The invention discloses a multiUAV cooperative trajectory planning method and system, equipment and a storage medium, and the method comprises the steps: firstly building a constraint model and an objective function of cooperative trajectory optimization, describing a cooperative trajectory planning problem as a parameter optimization problem, then employing B spline curve parameterization to represent UAV trajectories in combination with an aircraft performance model, and finally, solving a parameter optimization problem by adopting an evolution method to obtain a coordination trajectory meeting a space coordination requirement and a time coordination requirement to realize space-time coordination among multiple UAV trajectories.

Description

technical field [0001] The present invention relates to the technical field of UAV control, in particular, to a multi-UAV collaborative trajectory planning method, system, device, and computer-readable storage medium. Background technique [0002] When multiple unmanned aerial vehicles (UAVs) cooperate to carry out ground strike missions, in order to improve combat efficiency and achieve predetermined effects, it is often necessary to plan the combat process of multiple UAVs and generate detailed cooperative combat plans. Among them, collaborative trajectory planning is the key process of multi-UAV collaborative planning. In the ground attack phase, in order to maximize the probability of successfully completing the mission, all UAVs are required to start from the same or different starting points at the same time, and arrive at a specific attack position at the same time or in a certain time sequence to perform the mission, so that even if some UAVs are damaged , other UAV...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 刘宝宏
Owner 湖南苍树航天科技有限公司
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