Unmanned aerial vehicle cluster collaborative dynamic flight path planning method based on preset flight path points

Abstract

The invention relates to an unmanned aerial vehicle cluster collaborative dynamic flight path planning method based on preset flight path points, and belongs to the field of multi-unmanned aerial vehicle collaborative combat. Multiple times of dynamic planning of the track from the task initial point to the task termination point in the dynamic battlefield environment is completed. The unmanned aerial vehicle only needs to keep flying at a constant speed to reach an expected track point according to a planning result under the guidance of a flight control system of the unmanned aerial vehicle, time cooperative convergence can be achieved, the unmanned aerial vehicle does not need to be coupled with the flight control system to obtain flight parameters such as real-time position and attitude, cooperative track design is carried out according to the method, the calculated amount is small, and the method is low in calculation time consumption, simple, practical and beneficial to engineering implementation.

Description

technical field [0001] The invention belongs to the field of multi-unmanned aerial vehicle cooperative operations, and relates to a collaborative track planning method for cluster combat tasks and a cluster dynamic track planning method. Background technique [0002] Multi-UAV cooperative combat is a kind of confrontation between systems. Based on the idea of ​​"network enablement", a combat cluster is formed by sharing battlefield information through a wireless network system, so that it has multiple capabilities such as coordinated formation, coordinated reconnaissance, and coordinated strikes. an autonomous attack capability. [0003] The trajectory is the basis for UAVs to perform missions. The purpose of trajectory planning is to take into account the safety distance between aircrafts flying in the fleet, formation maintenance and collaborative tasks under the conditions of UAV fuel, flight performance and geographical environment. According to these constraints, an op...

AI Technical Summary

Problems solved by technology

In order to solve many problems in the existing track planning method, such as complex solution, long planning time and unsuitable for real-time planning process of UAV, too many local optimal solutions and difficult application, the present invention proposes a method based on preset track points. The multi-UAV cooperative dynamic track planning method, the basic idea is that the cluster plans and binds the preset track points in a stable ground environment, and the cluster performs tasks based on the preset track points, battlefield environment information, and drones. The real-time status and the track point positions locked by the flight control are used for cluster dynamic track planning to realize the generation of combat tracks of UAVs in a dynamic battlefield environment

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