Research On Collaborative Path Planning Technology For Multiple Unmanned Air-ground Platform

For the task requirements of complex scenarios,the one vehicle multi aircraft air to ground unmanned system composed of unmanned ground vehicles(UGVs)and micro rotor unmanned aerial vehicles(UAVs)can effectively give full play to their respective advantages,so it has many applications in the fields of cooperative reconnaissance,cooperative defense and warning,cooperative command and control and so on.Cluster path planning technology is the key to the efficient completion of cooperative tasks by one vehicle multi aircraft air to ground unmanned system.Therefore,this paper studies the cooperative path planning of air to ground multi unmanned platforms,in order to plan the driving path of multi unmanned platforms that meet the following three mission scenarios:(1)large area coverage reconnaissance mission;(2)reconnaissance missions with different urgency of target points;(3)reconnaissance and strike are two types of cooperative missions.The main research contents of this paper include:(1)Aiming at the problems of small reconnaissance coverage and short hang time caused by endurance constraints of UAVs,a cooperative path planning method based on sub region division is proposed.taking the UGV as the mobile charging station of the rotor UAVs,the reconnaissance minimum unit is determined according to the optical sensor parameters,and the reconnaissance area is divided based on the reconnaissance minimum unit,and then the path of the UAVs cluster and the UGV is planned by using the improved ant colony algorithm.Finally,the ant colony algorithm comparison experiment before and after the improvement,the cooperative comparison experiment of is there an UGV,the comparison experiment of different sizes of the area to be detected and the verification experiment with obstacles on the ground are carried out.The results show that this method can effectively avoid ground obstacles and realize large-scale and long-time reconnaissance tasks.(2)Aiming at the different urgency of reconnaissance mission points,a cooperative path planning method based on mission point priority is proposed.In order to solve the endurance problem of UAVs,UGV is used to charge it,clustering the task points,taking the priority of task points as the optimization index to plan the path of UAVs,and then plan the path of UGV.Finally,comparative experiments under different algorithms,different number of task points and different size of task area are carried out.the experimental results show that the proposed method can plan the reconnaissance order according to the task priority under different conditions and realize the cooperative path planning of air to ground unmanned system.(3)Aiming at reconnaissance and strike missions,a cooperative path planning method based on multi mission type is proposed.Firstly,task allocation is carried out according to the advantages of strong carrying capacity of UGVs and wide field of vision of rotor UAVs,the mission points are clustered under the condition of satisfying the endurance of the rotor UAV,and then the cooperative path planning is carried out,finally,the attack radius is set according to the range of weapons carried by the UGV,and the path of the UGV is locally adjusted.Finally,the comparison experiments of different attack radius,different number of task points and different size of task area are carried out to verify that the algorithm can plan a reasonable path according to the change of attack radius,number of task points and size of task area.