Cooperative path planning method for multiple unmanned aerial vehicles based on conflict search

Abstract

The invention provides a multi-unmanned aerial vehicle path planning method based on conflict search, wherein the searched path is enabled to better conform to the flight characteristics of the unmanned aerial vehicles, the number of expansion nodes in the path planning process is greatly reduced, and the overall planning efficiency is improved. The method comprises the following steps: preprocessing a point cloud map collected by an unmanned aerial vehicle into a voxel grid map; performing low-level search on the voxel grid map to obtain a path of a single unmanned aerial vehicle; and according to the path of the single unmanned aerial vehicle, traversing the constraint tree to perform conflict detection on the tracks of all the unmanned aerial vehicles, if conflicts exist, adding constraints to the unmanned aerial vehicles and performing constrained path planning, and if the conflicts do not exist, determining that planning succeeds.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a collaborative path planning method for multiple unmanned aerial vehicles based on conflict search. Background technique [0002] Multi-robot systems have wide-ranging applications in surveillance, search and rescue, and warehouse automation applications. Compared with the single-robot path planning problem, there are several characteristics of the multi-robot path planning problem: [0003] 1) There are more constraints, such as the need to maintain a certain formation, or the need to meet the sequence constraints of actions, that is, the completion of a robot's action is the condition for another robot to start action; [0004] 2) There is a planning conflict problem within the robot team, that is, two robots may arrive at the same position at the same time during the execution of the planned path, resulting in a collision. [0005] Multi-robot path planning algorithms can be d...

AI Technical Summary

Problems solved by technology

[0004] 2) There is a planning conflict problem within the robot team, that is, the two robots may arrive at the same position at the same time during the execution of the planned path, resulting in a collision

[0007] For the existing multi-UAV path planning algorithms, most of them are distributed and can guarantee a solution, but it is not an optimal solution, and the flight safety in a complex and narrow space with a high risk of conflict cannot be guaranteed

The conflict-based multi-robot collaborative optimal path planning method proposed by Sharon et al. can well solve the problem of trajectory conflicts in path planning of multi-robots, but it cannot be fully applied to UAVs in practical applications.

This algorithm can only solve the problem of multi-robot collision on a two-dimensional plane, while the motion environment of the UAV is a three-dimensional space

And it does not take into account the actual model of the robot, it is difficult to achieve a collision-free trajectory in real applications

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