Multi-unmanned aerial vehicle multi-thread two-dimensional exploration simulation method and system
A multi-UAV, simulation method technology, applied in control/adjustment system, three-dimensional position/course control, vehicle position/route/height control, etc., can solve the problem of low exploration efficiency and poor robustness of a single UAV problem, to achieve the effect of improving exploration efficiency, improving robustness, and facilitating use
Pending Publication Date: 2022-02-08
YUNNAN MINZU UNIV
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[0004] The purpose of the present invention is to provide a multi-UAV multi-threaded two-dimensional exploration simulation method and system to improve the low exploration efficiency and poor robustness of a single UAV in the prior art
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[0056] Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, each of the following embodiments and each feature in the embodiments can be combined with each other.
[0057] Please see figure 1 , figure 1 It is a flow chart of a multi-UAV multi-threaded two-dimensional exploration simulation method provided by an embodiment of the present invention. The multi-UAV multi-thread two-dimensional exploration simulation method includes the following steps:
[0058] Step S110: Create an initial exploration map; the above-mentioned initial exploration map refers to a map created by simulating the area to be explored by the drone, which can be generated by simulating an actual map or created by a random seed. Deep reinforcement learning requires observations as input. The observed field of view needs to be able to display walls, and the field of view for reward calculation cannot di...
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The invention provides a multi-unmanned aerial vehicle multi-thread two-dimensional exploration simulation method and system, and relates to the technical field of unmanned aerial vehicles. The multi-unmanned aerial vehicle multi-thread two-dimensional exploration simulation method comprises the following steps of: creating an initial exploration map; creating a plurality of simulation unmanned aerial vehicles on the initial exploration map; creating corresponding threads for all the simulation unmanned aerial vehicles; and finally, controlling the simulation unmanned aerial vehicles to fly according to the corresponding threads, and acquiring and inputting the current exploration data of the simulation unmanned aerial vehicles into a preset mappo algorithm model to generate a two-dimensional exploration map. Multi-vehicle collaborative exploration is realized, the exploration time can be saved, and the exploration efficiency is improved. In the exploration process, when a certain simulation unmanned aerial vehicle breaks down, the other simulation unmanned aerial vehicles can continue to explore, so that the robustness is improved. The mappo algorithm model outputs continuous actions and can be applied to an actual scene, and training is more stable.
Description
technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular, to a multi-unmanned aerial vehicle multi-thread two-dimensional exploration simulation method and system. Background technique [0002] With the continuous improvement of the application level of drones in resource exploration, security prevention and control, emergency rescue and disaster relief, etc., they can replace humans to complete harsh, dangerous and boring work, which greatly expands the dimensions, levels and fields of human exploration of nature and society. Generate considerable social and economic value. [0003] In natural resources survey, disaster monitoring and assessment, border security inspection and monitoring, etc., the tasks to be completed often have space exploration as the purpose, and there is no clear path planning from the start point to the end point. The existing scheme adopts a single unmanned However, the exploration effic...
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IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 唐嘉宁安城安周思达杨昕李罗宇
Owner YUNNAN MINZU UNIV