Multi-unmanned aerial vehicle trajectory planning method and device, unmanned aerial vehicle and storage medium

Abstract

The invention discloses a multi-unmanned aerial vehicle trajectory planning method and device, an unmanned aerial vehicle and a storage medium, wherein the multi-unmanned aerial vehicle trajectory planning method comprises the steps: building an unmanned aerial vehicle motion model; obtaining a target state constraint motion primitive sampling model; for any target unmanned aerial vehicle in a multi-unmanned aerial vehicle set, constructing an objective function including a flight safety constraint and a target point distance optimization constraint, wherein the flight safety constraint limits the distance between a target unmanned aerial vehicle and an obstacle, and the obstacle comprises an environment obstacle and other unmanned aerial vehicles except the target unmanned aerial vehicle; and solving the target function, obtaining the optimal tail end state of the target unmanned aerial vehicle in the current rolling prediction time domain, and obtaining a corresponding target flight trajectory of the target unmanned aerial vehicle in the current rolling prediction time domain based on the target state constraint motion primitive sampling model and the unmanned aerial vehicle motion model, wherein the target flight trajectory comprises a set of state quantities. Compared with the prior art, the method provided by the invention is beneficial to improving the safety of the unmanned aerial vehicles.

Description

technical field [0001] The present invention relates to the technical field of flight control, in particular to a multi-UAV trajectory planning method, device, UAV and storage medium. Background technique [0002] With the development of science and technology, UAV technology is developing rapidly, and the application of UAV is becoming more and more extensive. For example, UAVs can be used for customs anti-smuggling, search and rescue, power inspection, target hunting, etc. in urban or wild environments. There are defects such as limited field of view and monitoring range, insufficient fault tolerance, and poor robustness when operating a single UAV, which leads to a certain degree of impact on the mission efficiency and success rate of UAVs when performing specific tasks. Therefore, multi-UAV collaborative operations Came into being. The cooperative execution of tasks by multiple UAVs can effectively make up for the limitations of a single UAV and improve the reliability...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide a multi-UAV trajectory planning method, device, UAV and storage medium, aiming at solving the problem of unmanned aerial vehicles only considering the impact of stationary obstacles in the environment on UAVs in the prior art. The scheme of human-machine planning path to avoid static obstacles in the environment is likely to cause accidents such as collisions between drones when multiple drones cooperate to perform tasks, which affects the safety of drones

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