Sea-air integrated cross-domain heterogeneous collaborative planning method

By establishing a coordinated planning method of sea and air integrated in the cross-domain heterogeneous unmanned system, the problems of weak search capabilities and low communication efficiency in the collaborative planning of cross-domain heterogeneous unmanned systems in the existing technology are solved, and more efficient underwater target search tasks are achieved.

CN119717868APending Publication Date: 2025-03-28CHINA ACADEMY OF ELECTRONICS AND INFORMATION TECHNOLOGY OF CHINA ELECTRONICS TECHNOLOGY GROUP CORPORATION +1
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Patent Information

Application Number
CN202510230122.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-28
Publication Date
2025-03-28

AI Technical Summary

Technical Problem

In the prior art, the collaborative planning between cross-domain heterogeneous unmanned systems (such as UAV/AUV and AUV/USV) has problems with weak search capabilities and low communication efficiency, especially in complex underwater environments.

Method used

A cross-domain heterogeneous collaborative planning method with sea and air is proposed. By modeling UAV, USV and AUV, comprehensively considering the constraints of feasible space, terminal distance, information connection and energy consumption, and using asynchronous planning strategies for path planning to realize the collaborative planning task of UAV-USV-AUV.

Benefits of technology

This method establishes a more complete cross-domain heterogeneous collaborative planning framework, improves the efficiency of search tasks for underwater targets, overcomes the problems of weak search capabilities and low communication efficiency in the existing technology, and is suitable for complex underwater environments.

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Abstract

The invention provides a sea-air integrated cross-domain heterogeneous collaborative planning method, and belongs to the technical field of unmanned system command and control. According to the method, a cross-domain heterogeneous collaborative planning framework comprising an unmanned aerial vehicle, an unmanned surface vessel and an autonomous underwater vehicle is provided. By comprehensively considering the characteristics and task requirements of the unmanned system and the influence of a propagation channel and an information flow, a complete collaborative planning model is established, and various constraint conditions such as feasible space constraint and terminal distance constraint are introduced, so that efficient completion of a collaborative task is ensured. And under the guidance of the optimization target, path planning of the AUV, the USV and the UAV is performed in sequence by adopting an asynchronous planning strategy, so that the search efficiency and the task success rate of the underwater target are improved. The method has a more complete collaborative planning framework and performance advantages, is suitable for a complex underwater environment, and can effectively overcome the problems of weak search capability, low communication efficiency and the like in the prior art.
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