Design And Simulation Of Forest Information Monitoring Scenario Based On Multi-UAV Cooperation

Forestry UAVS can be equipped with various high-precision sensors.It is a new type of forestry information collection equipment with high flexibility and low cost.It has been widely used to monitor key information in forest areas.Compared with the traditional forestry information monitoring method,the forest area information monitoring strategy based on the cooperation of multi-UAVs can effectively solve the problems of high cost,long collection time,and poor timeliness of information.This paper followed the needs of the multi-UAVs collaborative information monitoring system,and conducted scientific research on the target allocation and trajectory planning difficulties of the forestry aircraft,focusing on solving the problems of inconsistency of multiple models,long distribution time,and unreasonable trajectory planning.This paper focused on the above research objectives and research issues,and conducted the following research:1.Aimed at the complex forest area's actual environmental conditions and UAV dynamic constraints,this paper builded a mathematical model of forest area multi-UAVs collaborative information monitoring problem.Firstly,a reasonable digital forest environment simulation model was established;then based on the inertial coordinate system and the body coordinate system,the dynamic model of the four-rotor UAV was determined;then,the optimal rate of allocation and the minimum value of path substitution are the optimization goals of this paper.At the same time,multiple constraints such as environmental collision threats,range limits,corner limits,and multimachine timing constraints faced by multi-machine systems when performing tasks were considered,and a multi-drone target assignment with multiple equality and inequality constraints was constructed.With the path planning optimization equation,and used the penalty function and scaling factor to achieve the relaxation of the above constraints.2.To carry out research on the problem of multi-UAVs cooperative forest area information monitoring target allocation.In this paper,by analyzing the shortcomings and deficiencies of the traditional difference algorithm to the target allocation problem,a unified model suitable for the mismatch between the target and the number of drones was established;then a range cost estimation method based on vertical side view and a unified gene coding were proposed Rules and discrete differential mapping rules,combined with adaptive dynamic operators,an adaptive differential evolution algorithm based on discrete mapping rules was proposed;in the end,the efficiency was verified by a large number of repeated experiments with the same type of Sort-DE,PMX-DE and other differential calculation methods3.Researched on the path planning of multi-UAV cooperative forest area information monitoring,and a method of multi-UAV forest area trajectory planning based on SPIO algorithm was proposed.According to the result of target allocation,multiple UAVs need to plan the route suitable for individuals.In this paper,an improved pigeon swarm algorithm was used to solve this optimization problem.First,the compass operator in the original pigeon group algorithm was improved,and improvement measures such as proportional search step size and adaptive compass operator were proposed.At the landmark operator stage,dynamic compression strategies and cosine curve position update strategies and other improvement measures were proposed;The comparison experiment with PIO,PSO and other algorithms proved that the SPIO algorithm in this paper had higher operating efficiency and solution set quality in the UAV global path planning,and the average angle of the generated path was also the largest,which was in line with the actual unmanned Flight requirements.In this paper,the two key issues of target allocation and path planning in the multi-UAVs forest information monitoring plan had been studied in sequence.The DMADE algorithm and the SPIO algorithm were respectively proposed to solve these two problems,aiming to improve the various aspects of the system.Implementation efficiency and quality,and its performance was verified through experiments,and the overall design and simulation of the forest area information monitoring program was completed.