Research On Multi-UAV Collaborative Route Planning Method

In recent years,due to its low environmental requirements,simple operation,errorfree,flexible and reliable,and low cost,Unmanned Aerial Vehicles(UAVs)have been widely used in military and civilian fields.However,as the task environment becomes more and more complex and the task requirements are higher and higher,the limited capacity of a single UAV can no longer meet the complex task requirements.The use of multiple UAV to perform tasks collaboratively has become an important development trend.Through the multi-UAV coordinated route planning,the overall control of the UAV group can be realized,which makes the route generation more reasonable,the flight process more secure,and the task completion more efficient.The problem of coordinated route planning for multi-UAV should consider both anti-collision requirements,task constraints,and the feasibility of trajectories.It is a comprehensive problem.There are many methods for multi-UAV coordinated route planning,and different methods have different characteristics.Therefore,it is first necessary to determine the evaluation criteria according to different application scenarios.From the perspective of UAV,there are: time,energy consumption,etc.;from the algorithm level,there are:calculation amount,feasibility of the trajectory,etc.;from the perspective of the task:whether the actual task objectives and task constraints are met.Different indicators have different research perspectives and correspond to different methods.The work and research results of this paper mainly include the following aspects:(1)From the perspective of UAV efficiency,the problem of route planning in multiUAV formation transformation is studied.The specific situation of formation transformation includes formation assembly,formation maintenance,formation reconstruction and so on.By determining the energy consumption and completion time as the multi-UAV formation transformation efficiency measure,the optimal efficiency model of multi-UAV formation transformation oriented to time coordination is proposed.Corresponding calculation formulas are given for several different situations of formation transformation.The model can obtain the optimal formation transformation spatial position for the UAV formation.(2)From the perspective of algorithm performance,the problem of route planning in the process of multi-UAV formation is studied.Multi-UAV formations need to consider not only the formation of the formation shape,but also the collision avoidance between the formation members and the obstacles,which requires high computational performance.As a classical route planning algorithm,the artificial potential field method has fast calculation speed and high real-time performance,and has strong practicability.Based on the current research on artificial potential field method,for the problem that the UAV does not consider the state of the UAV at the starting point and the end point,including the heading and speed,by introducing the gravitation function and introducing the velocity element,the consideration of the head and tail state of the UAV is realized.Aiming at the problem that the trajectory generated by the artificial potential field method is not convenient for UAV routeing,the trajectory planned by the artificial potential field method is subjected to secondary processing,and the performance constraints of the UAV are taken into consideration in the secondary processing.Thereby obtaining a smooth trajectory that satisfies the performance constraints of UAV.(3)From the perspective of mission background,the problem of route planning when multi-UAV cooperate to perform specific tasks is studied.When you actually perform a task,you often encounter many constraints.In this paper,a mixed integer programming model for multi-UAV fast coordinated route planning under multi-constrained conditions is established for the error correction constraints,turning radius constraints and time coordination constraints in the process of UAVs performing specific tasks,and it is solved by CPLEX.The experimental results show that the model can ensure the reasonable safety of UAV flight and the efficient and stable execution of tasks.