The embodiments of the present invention disclose a method and apparatus for joint optimization of multi-UAV task assignment and path planning. The method comprises: obtaining the location information of a plurality of UAVs and a plurality of target points, the dispersion of groundspeed course angle, and motion parameters of each UAV and wind field; constructing an initial population based on the location information, the dispersion of groundspeed course angle and a preset genetic algorithm; determining the flight status of each UAV and the flight time taken by each UAV to complete a path segment of the corresponding Dubins flight path based on the initial population and the motion parameters, obtaining the total time taken by all the UAVs corresponding to each chromosome to complete the task based on the flight time of the path segment; and subjecting the chromosomes in the initial population to crossover and mutation based on the genetic algorithm and, when a predetermined number of iterations is reached, selecting the optimal Dubins flight path as the joint optimization result. In the embodiments of the present invention, the UAV flight path planning problem is combined with the actual flight environment of the UAV, so that the optimal flight path obtained is superior to the solution in which the UAV speed is constant.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Method and apparatus for joint optimization of multi-UAV task assignment and path planning


    Beteiligte:
    LUO HE (Autor:in) / WANG GUOQIANG (Autor:in) / LIANG ZHENGZHENG (Autor:in) / HU XIAOXUAN (Autor:in) / YANG SHANLIN (Autor:in) / MA HUAWEI (Autor:in) / XIA WEI (Autor:in) / JIN PENG (Autor:in) / ZHU MONING (Autor:in) / NIU YANQIU (Autor:in)

    Erscheinungsdatum :

    2018-11-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



    METHOD AND APPARATUS FOR JOINT OPTIMIZATION OF MULTI-UAV TASK ASSIGNMENT AND PATH PLANNING

    LUO HE / WANG GUOQIANG / LIANG ZHENGZHENG et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Air–Ground Collaborative Multi-Target Detection Task Assignment and Path Planning Optimization

    Tianxiao Ma / Ping Lu / Fangwei Deng et al. | DOAJ | 2024

    Freier Zugriff

    A comparative study of task assignment and path planning methods for multi-UGV missions

    Thunberg, Johan / Anisi, David A. / Ögren, Petter | Tema Archiv | 2009


    Cooperative path planning and task assignment for unmanned air vehicles

    Innocenti, M / Pollini, L / Bracci, A | SAGE Publications | 2010


    Cooperative path planning and task assignment for unmanned air vehicles

    Innocenti, M. / Pollini, L. / Bracci, A. | Tema Archiv | 2010