Research On Multi-UAV Path Planning In Mountain Area Search And Rescue

Aircraft operation is affected by factors such as pilot fatigue,mechanical failure,wake separation,and severe weather,and safety accidents are still unavoidable under the existing technical background.When an aircraft crashes in a mountainous area,the geographical environment of the mountainous area is harsh and the weather conditions are complex and changeable.It is difficult to obtain the crash coordinates and geographical information of the crashed area in the first time,which brings great inconvenience and hidden safety hazards to search operations.The application of drones in mountain search operations has improved the efficiency of search and rescue.For drones searching for trajectory planning,previous studies have focused on traversing search trajectory planning for coordinate points of suspected aircraft crashes.When aircraft crashes in unknown locations in mountain areas It is difficult for traditional trajectory planning methods to cover the entire search area in a short time,which brings new challenges to the search operation.In view of the fact that this article takes the aircraft crash at an unknown location in the mountain as the actual research background,the dimensionality reduction of the multi-unmanned mountain search track planning problem is converted into two sub-problems of regional segmentation matching and sub-area coverage search track planning,which reduces the track planning The algorithmic complexity of the method makes it a feasible method for multi-unmanned mountain search track planning in actual operations,which provides theoretical support for the search and rescue of civil aircraft.For the matching problem of search performance and environmental assessment,the search performance of the UAV and the environment of the search area are digitized by establishing a layered fuzzy system.For different graphics shapes of the search area,the principle and process of segmentation of the search area for convex and concave polygons are given.Taking the number of searching drones as the contact point,the sub-region matching method was determined.In the sub-region coverage search problem,by introducing the track quality evaluation function,the track quality of different coverage search methods is calculated and compared to determine the optimal search method;the expression of the UAV search track length is established to study the effect of the number of turns on the track length,The search direction of the shortest track in the triangle area is determined,and the search starting point and position determination method are given;the formula for calculating the effective saccade width of mountain search is derived,and the saccade width is established for the weather,terrain,wrecked aircraft size factors that affect the saccade width Correction factor table;by collecting photos at different track pitch overlap rates,comparing the stitching time of photos and the stitching quality of the same area,the optimal lateral overlap rate for the track pitch division is 40%.Finally,the consistency and relevance of the UAV coverage search track spacing overlap rate and tilt photography lateral overlap rate in mathematical definitions were obtained.The high-precision geographic 3D models of different crash areas with the same value were obtained and verified.The numerical validity of the overlap rate satisfies the area coverage search while obtaining a high-precision three-dimensional real-world geographic model of the crash area,and provides auxiliary decision-making for subsequent rescue operations.