Cooperative Task Assignment And Path Planning For Multi-UAVs Bird-driving System At The Airport

The damage of bird-strike is a grave threat to the flight safety of aircraft,however the existing methods of bird-driving at airports can't completely avoid the air disasters caused by bird-strike.In order to ensure flight safety,it's necessary to strengthen the research of bird-driving,constantly enrich the methods of bird-driving at airports,increase the efficiency of bird-driving at airports.In this paper the latest technology of multi-UAVs cooperation is introduced into the traditional research field of bird-driving at airports,and the technology of cooperative task assignment and path planning for multi-UAVs bird-driving at airports is studied.The main research work is as follows:Firstly,based on the design objective of the new AI system,a multi-UAVs cooperative bird-driving system at the airport is deigned,and the working principle,task objectives and operation steps of the system are introduced from three aspects: modeling,hardware composition and algorithm flow.Secondly,the task assignment algorithm for multiple UAVs facing multiple bird-driving tasks is studied.Based on the fault tree analysis method,the risk assessment method of invading birds at the airport is studied.Based on the fuzzy logic reasoning method,the target efficiency evaluation method of UAV driving birds is proposed.Based on the proportional guidance law,multiple constraints of UAV driving birds are proposed.The optimization algorithm of task assignment is designed based on Genetic algorithm,and the simulation verification is completed.Then,in order to complete the task of bird-driving,the UAV path planning algorithm is studied.Based on MAKLINK link graph theory,the path planning model is established.In order to make the algorithm more close to the practice,the "ambush bird-driving strategy" is designed to predict the end point of path planning,and the "approach vertex method" is used to adjust the starting and end points of path planning,which improves the generality of the algorithm.On this basis,the path pre-planning algorithm is designed,and the simulation verification is carried out.Based on the fuzzy logic reasoning method,the method of UAV avoiding dynamic obstacles is designed.Next,the task reallocation and the path replanning for multi-UAVs bird-driving at airports are studied.This paper proposes a method to correspond external emergencies to the internal objects of the algorithm,and makes a quantitative analysis of the impact of external events on current system tasks and task sets.On this basis,an algorithm of the task reallocation and the path replanning for multi-UAVs cooperative bird-driving system at the airport is proposed,and the simulation verification is carried out,which effectively reduces the numbers of the task reallocation and the path replanning and the amount of calculation for the system.Finally,in order to strengthen human-computer interaction(UIC)and improve the security and economy of the system,a visual simulation interface of the multi-UAVs cooperative bird-driving system at airports is designed based on MATLAB software.The realization of the visual simulation interface of the multi-UAVs cooperative bird-driving system at airports is introduced from four aspects: design idea,design objectives,main functions and work flow.