The invention provides a multi-unmanned aerial vehicle cooperative sensing collision avoidance method and device under the condition of limited communication, belongs to the technical field of air traffic management and unmanned aerial vehicles, and aims to perform situation sensing by means of unmanned aerial vehicle airborne sensing equipment, and predict and evaluate the collision risk with surrounding unmanned aerial vehicles. Establishing a conflict relation weight network, and identifying a high-risk unmanned aerial vehicle in the network; in combination with high-risk unmanned aerial vehicle prior information provided by the conflict relation weight network, determining a multi-unmanned aerial vehicle optimal collision avoidance maneuvering sequence considering communication cost and maneuvering cost; and orderly maneuvering according to the optimal collision avoidance maneuvering sequence, and externally updating the flight situation by using a communication link. According to the method, the problem of multi-unmanned-aerial-vehicle cooperative conflict-free route planning with communication constraints can be solved, it is ensured that the multiple unmanned aerial vehicles in the airspace achieve collision avoidance maneuvering by means of communication cooperation under the condition that communication resources are limited, finally, the unmanned aerial vehicles reach an expected target point on the premise that unnecessary communication is reduced, and mutual collision in the flight process is avoided.

    本发明提供一种通信有限条件下的多无人机协同感知避撞方法及装置,属于空中交通管理及无人机技术领域,借助无人机机载感知设备进行态势感知,预测和评估与周边无人机的冲突碰撞风险;建立冲突关系权重网络,识别网络中的高风险无人机;结合冲突关系权重网络提供的高风险无人机先验信息,确定考虑通信成本和机动成本的多无人机最佳避撞机动顺序;按照最佳避撞机动顺序有序机动,并利用通信链路对外更新飞行态势。本发明能够解决存在通信约束的多无人机协同无冲突航迹规划问题,确保空域内多无人机在通信资源有限的情况下借助通信协同实现避撞机动,最终在减少不必要的通信的前提下到达预期目标点,并避免飞行过程中的相互碰撞。


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    Title :

    Multi-unmanned aerial vehicle cooperative sensing collision avoidance method and device under limited communication condition


    Additional title:

    通信有限条件下的多无人机协同感知避撞方法及装置


    Contributors:
    LIU ZHAOXUAN (author) / NIE LEI (author)

    Publication date :

    2024-03-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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