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
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[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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