Air-sea cross-domain unmanned intelligent cluster cooperative path planning method

By kinematic modeling and objective function construction of the cross-domain unmanned intelligent cluster of air-sea, and using improved particle swarm algorithm (IPSO), the complexity problem of path planning of cross-domain unmanned intelligent clusters of air-sea, achieving more refined modeling and performance advantages, and enhancing the cluster's collaborative task execution capabilities.

CN119717888APending 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
CN202510201191.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-24
Publication Date
2025-03-28

AI Technical Summary

Technical Problem

The existing technology is difficult to effectively decouple and optimize the complex tasks of air-sea cross-domain unmanned intelligent clusters, especially in complex environments where there are huge differences in different spatial domains, resulting in insufficient ability to make real-time decisions and dynamic adjustments, and it is difficult to plan and adjust paths in real time.

Method used

A method of collaborative path planning for cross-domain unmanned intelligent clusters in the air-sea cross-domain, is proposed. By kinematic modeling of UAV, USV and AUV, a weighted fusion collaborative navigation planning objective function is constructed, and an improved particle swarm algorithm (IPSO) is used to introduce nonlinear decreasing inertial weights and asymmetric learning factors to optimize path planning.

Benefits of technology

It realizes more refined modeling and performance advantages, avoids algorithms falling into local optimization, and speeds up convergence speed, and can more effectively perform collaborative tasks in low-altitude, water surface, underwater and other spatial areas, expand application scope and resource utilization.

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Abstract

The invention provides an air-sea cross-domain unmanned intelligent cluster collaborative path planning method, and belongs to the technical field of collaborative planning. The method comprises the following steps: S1, carrying out kinematics modeling on a UAV unmanned cluster, a USV unmanned cluster and an AUV unmanned cluster; s2, by taking multiple straight lines and few curves of the path, the length of the total path and the short total consumed time as optimization objectives, constructing a collaborative navigation planning objective function through weighted fusion; and S3, carrying out path planning by adopting a collaborative path planning algorithm based on an improved particle swarm. According to the air-sea cross-domain unmanned intelligent cluster collaborative path planning method, the advantages of different platforms can be fully utilized, various collaborative tasks such as target searching, tracking and disposal are executed in space areas such as low altitude, water surface and underwater, the application range is further expanded, the resource utilization rate is further increased, and the method is suitable for large-scale popularization and application. The method has the advantages of finer modeling and performance, prevents the algorithm from falling into local optimum, and accelerates the convergence speed.
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