Research And Verification Of Multi-UAV Cooperative Control Technology In Dynamic Enviroment

As the practical environment of UAV application is becoming more and more complex,more and more tasks need to be accomplished by multi-UAV collaboration.Cooperative control of multi-UAV has become the focus of current research.Although there are a lot of research on cooperative control of multiple UAVs in static environment,there is an urgent need for real-time path planning of UAVs in dynamic environment,and related research is very important.Aiming at the problems of multi-UAV cooperative control in dynamic environment,this paper constructs an environment model based on artificial potential field method and grid method.Based on this model,the real-time task allocation and real-time path planning of multi-UAV are deeply studied.The main research results are as follows:Aiming at the current problems of multi-UAV research,this paper constructs an environment model based on artificial potential field method and grid method.Based on this model,the real-time task allocation and real-time path planning of multi-UAV are deeply studied.The main research results are as follows:(1)A real-time task allocation algorithm for multiple UAVs based on improved particle swarm optimization algorithm is proposedBased on the traditional particle swarm optimization(PSO),the particle encoding structure is redefined according to the chromosome encoding method of genetic algorithm and task assignment model.Then,the crossover operator and mutation operator are used to update the particle and change the weight linearly,so that the task assignment sequence can be obtained quickly and iteratively.(2)A real-time path planning algorithm for multiple UAVs based on improved A-star algorithm is proposedBy redefining the heuristic function of A-star algorithm and tracing back to the father node of the obstacle point for path re-planning,the algorithm solves the problem that A-star algorithm needs to re-plan from the starting point when the planning path encounters unknown obstacles.(3)A real-time path planning algorithm for multiple UAVs based on improved genetic algorithm is proposedBased on the environment model of raster method,the algorithm redefines the coding structure,fitness function and chromosome update strategy of chromosome,so that the algorithm can effectively avoid obstacles and quickly iterate to the global optimal value to obtain the planning path.In this paper,simulation experiments are designed for the above algorithms.The experiments show that the above algorithms can guarantee the optimal results and have good computational efficiency,which meets the requirements of real-time task allocation and real-time path planning.