Vehicle Path Planning Based On The Collaboration Of Drones And Unmanned Vehicles

UAV and UAV collaboration has broad application prospects in many fields such as intelligent transportation,disaster rescue and military operations,and it's also a research focus of heterogeneous robot collaboration system.Because of their complementary functions,they have obvious advantages in executing tasks through the cooperation between the two,which is of great significance for unmanned devices to accomplish complex tasks and improve efficiency.In this paper,the purpose is to do vehicle's path planning in UAV/UAV cooperative system,and the technology of target detection,identification and path planning in UAV/UAV cooperative system is deeply studied.The main research work is as follows:At first,the Air-Ground cooperative system control architecture is established,which can coordinate the multi-tasks between UAVs and UGVs,and realize the effective information exchange.Secondly,aiming at the detection and location of ground target in UAV and UAV cooperative system,the target detection and location are realized through color space conversion,image segmentation,morphological processing,template matching and other image processing steps,and the corresponding coordinate information of the target is extracted.Then,the principle of the traditional Artificial Potential Field method is introduced in detail,and the reason that the traditional artificial potential field method fails due to the local minimum point problem is analyzed.The traditional artificial potential field method is very easy to fall into the local minimum point problem.The repulsive force and gravity are modeled directly on the basis of the improved artificial potential field method,and the local minimum point is defined as the path planning algorithm of obstacles,which solves the above-mentioned minimum point problem and provides a safe and feasible path for the unmanned vehicle.Finally,Matlab is used to simulate the target detection and location,path planning algorithm,and build the UAV/UGV collaborative experimental platform.According to the experimental conditions and actual experimental requirements,Arduino intelligent vehicle and four-rotor UAV are selected to carry out the cooperative operation experiment,and the feasibility of the experiment scheme is verified.The platform of RCP and UAV cooperative operation experiment based on dSPACE is built,which lays the experimental foundation for the further cooperative operation experiment of UAV/UAV based on dSPACE.