CN108871330A - UAV Formation Flight determining method of path and device - Google Patents
UAV Formation Flight determining method of path and device Download PDFInfo
- Publication number
- CN108871330A CN108871330A CN201810213162.1A CN201810213162A CN108871330A CN 108871330 A CN108871330 A CN 108871330A CN 201810213162 A CN201810213162 A CN 201810213162A CN 108871330 A CN108871330 A CN 108871330A
- Authority
- CN
- China
- Prior art keywords
- point
- task
- location point
- location
- task point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004590 computer program Methods 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 description 21
- 230000008569 process Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of UAV Formation Flight determining method of path and devices, it is related to air vehicle technique field, main purpose is can be realized the unmanned plane in formation flight task and carries out formation flight according to the shortest each flight path of non-cross and total distance, can be avoided unmanned plane collide in flight course and can guarantee each unmanned plane fly to task point total path it is most short.The method includes：Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；Matching rule is divided according to predeterminable area to match to each location point and each task point progress region division and two-by-two, the shortest each flight path of non-cross and total distance is obtained, each flight path is each location point to the path with the matched task point of each location point；By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.The present invention is suitable for the determination in UAV Formation Flight path.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of UAV Formation Flight determining method of path and dress
It sets.
Background technique
With the continuous development of information technology, unmanned plane with appearance, unmanned plane refer to using radio robot and
The not manned aircraft for the presetting apparatus manipulation provided for oneself.In recent years, unmanned plane had been widely used in take photo by plane photography, electric power
The fields such as inspection, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance, battle assessment, moreover, with
People to the known of unmanned plane and like that unmanned plane has progressed into common people's lives.People usually control nobody
Machine formation flight, i.e. control unmanned plane fly according to pre-set flight plan, in flight to scheduled waypoint location in the works
When, carry out the formation flights tasks such as light show, composition particular air pattern.It is determined carrying out UAV Formation Flight path
When, in order to complete formation flight task, the unmanned plane in flight course in formation needs to reach predetermined position in predetermined point of time
On point, next preplanned mission point then is reached in next predetermined point of time again.Accordingly, it is determined that UAV Formation Flight path
To completing, formation flight task is extremely important.
Currently, generalling use random fashion when determining UAV Formation Flight path and determining under the unmanned plane in forming into columns
The task point that one predetermined point of time needs to reach, i.e., determine each UAV Formation Flight path at random.However, formation flight
Unmanned plane quantity in task is more, and the flight condition of each unmanned plane is different, if determining each unmanned plane through the above way
Formation flight path, will cause unmanned plane awing collide, even some unmanned planes need flower it is longer get to
The task point that machine determines causes formation flight task to be delayed, not can guarantee and smoothly complete so as to cause formation flight task.
Summary of the invention
In view of this, the present invention provides a kind of UAV Formation Flight determining method of path and device, main purpose are
The unmanned plane that can be realized in formation flight task is formed into columns according to the shortest each flight path of non-cross and total distance
Flight can be avoided unmanned plane and collide in flight course and can guarantee that each unmanned plane flies to next task point
Total path is most short, so as to guarantee that formation flight task smoothly completes.
According to the present invention in a first aspect, providing a kind of UAV Formation Flight determining method of path, including：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division is carried out to each location point and each task point
It matches two-by-two, obtains the shortest each flight path of non-cross and total distance, each flight path is described each
Location point is to the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
Second aspect according to the present invention provides a kind of UAV Formation Flight path determining device, including：
Acquiring unit, for obtaining each of each location point of each unmanned plane in formation flight task and lower subtask
A task point；
Matching unit, for dividing matching rule to each location point and each task point according to predeterminable area
It carries out region division and matches two-by-two, obtain the shortest each flight path of non-cross and total distance, each item flight road
Diameter is each location point to the path with each matched task point of location point；
Determination unit, the corresponding formation for being determined as each unmanned plane of each flight path for obtaining matching fly
Walking along the street diameter.
The third aspect according to the present invention provides a kind of computer readable storage medium, is stored thereon with computer program,
The program realizes following steps when being executed by processor：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division is carried out to each location point and each task point
It matches two-by-two, obtains the shortest each flight path of non-cross and total distance, each flight path is described each
Location point is to the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
Fourth aspect according to the present invention provides a kind of UAV Formation Flight path determining device, including memory, place
The computer program managing device and storage on a memory and can running on a processor, the processor execute real when described program
Existing following steps：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division is carried out to each location point and each task point
It matches two-by-two, obtains the shortest each flight path of non-cross and total distance, each flight path is described each
Location point is to the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
The present invention provides a kind of UAV Formation Flight determining method of path and device, and is determined at present using random fashion
The task point that the next predetermined point of time of unmanned plane in formation needs to reach, i.e., determine each UAV Formation Flight road at random
Diameter is compared, and the present invention is by obtaining in formation flight task each location point of each unmanned plane and each of lower subtask
Business point；And according to predeterminable area divide matching rule to each location point and each task point carry out region division and
It matches two-by-two, can match to obtain the shortest each flight path of non-cross and total distance, each flight path is institute
Each location point is stated to the path with each matched task point of location point.At the same time, matching can be obtained each
The corresponding formation flight path for being determined as each unmanned plane of flight path, so as to realize in formation flight task
Unmanned plane carries out formation flight according to the shortest each flight path of non-cross and total distance, can be avoided unmanned plane and is flying
Collide in the process and can guarantee each unmanned plane fly to next task point total path it is most short, and then can guarantee to compile
Team's aerial mission smoothly completes.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of UAV Formation Flight determining method of path flow chart provided in an embodiment of the present invention；
Fig. 2 shows another UAV Formation Flight determining method of path flow charts provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural representation of UAV Formation Flight path determining device provided in an embodiment of the present invention
Figure；
Fig. 4 shows the structural representation of another UAV Formation Flight path provided in an embodiment of the present invention determining device
Figure；
The entity structure that Fig. 5 shows a kind of UAV Formation Flight path determining device provided in an embodiment of the present invention is shown
It is intended to.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
As stated in the background art, it currently, when determining UAV Formation Flight path, generallys use random fashion and determines volume
The task point that the next predetermined point of time of unmanned plane in team needs to reach, i.e., determine each UAV Formation Flight road at random
Diameter.However, the unmanned plane quantity in formation flight task is more, the flight condition of each unmanned plane is different, if passing through above-mentioned side
Formula determines each UAV Formation Flight path, will cause unmanned plane awing collide, even some unmanned plane needs
Flower is longer to get to determining at random for task point, and formation flight task is caused to be delayed, can not so as to cause formation flight task
Guarantee smoothly completes.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of UAV Formation Flight path determination sides
Method, as shown in Figure 1, the method includes：
101, each location point of each unmanned plane and each task point of lower subtask in formation flight task are obtained.
Wherein, the formation flight task can be related to multiple unmanned planes, can form volume by a certain number of unmanned planes
Team carries out light show, composition particular air pattern etc. when waypoint location is arrived in flight and appoints according to pre-set flight project flight
Business.Therefore, the formation flight task includes that related unmanned plane various time points and various time points should reach
Location point.The task point is the location point that unmanned plane needs to reach in future time point.
It should be noted that the executing subject UAV Formation Flight path determining device of the embodiment of the present invention can be clothes
Business device a, or functional module on server.The embodiment of the present invention is determined in formation flight task by server
The formation flight path of each unmanned plane can be improved the completion efficiency of formation flight task and guarantee each in formation flight task
The synchronousness of a unmanned plane.
102, matching rule being divided according to predeterminable area, region is carried out to each location point and each task point
It divides and matches two-by-two, obtain the shortest each flight path of non-cross and total distance.
Wherein, each flight path can for each location point to each matched task of location point
The path of point.The predeterminable area divides the location point that matching rule can be chosen according to and chooses according to distance degree
The straight line that is connected into of task point, region division is carried out to each location point and each task point, then basis
The location point and task point quantity in region are divided, determines the whether matched rule of task point of the location point and selection of the selection
Then.The embodiment of the present invention is to divide matching rule using predeterminable area by iteration, is each unmanned plane matching task point, directly
Be matched to corresponding task point to all unmanned planes, i.e., after determining matched task point for a certain unmanned plane, be further continued for from
Chosen position point in region is divided, task point is chosen according to distance and position point how far, according to the location point of selection and selection
The straight line that is connected of task point, continue region division to region is divided, determine whether are the location point chosen and task point
Matching.Since the task point chosen for unmanned plane is determined according to the how far of distance and position point, it can guarantee nothing
The man-machine flight path for reaching task point from location point is most short, secondly, the embodiment of the present invention is constantly to location point and task point
Region division, and the chosen position point in a division region are carried out, and determining with the matched task point of the location point,
I.e. region division and be for location point matching task point carried out by layer, therefore can guarantee each unmanned plane from location point to
The path for the task point matched is non-cross.
103, each flight path that matching obtains is corresponded to the formation flight path for being determined as each unmanned plane.
For example, formation flight task is related to 10 unmanned planes, the position point of 10 unmanned planes can be A1-A10,10
The task point of the lower subtask of a unmanned plane can be B1-B10, and the embodiment of the present invention divides matching rule by predeterminable area
For the A1-A10 and B1-B10 of 10 unmanned planes, matched path can for A1-B10, A2-B7, A3-B5, A4-B3, A5-B4,
10 of A6-B9, A7-B6, A8-B2, A9-B8, A10-B1 are non-cross two-by-two and the shortest flight path of total distance, therefore
When formation flight, unmanned plane 1- unmanned plane 10 at next time point, respectively aerial mission point B10, B7, B5, B3, B4, B9, B6,
B2,B8,B1.With the prior art be at random that every frame unmanned plane matches a task point, and determine the flight path of unmanned plane mutually this,
The embodiment of the present invention divides matching rule by predeterminable area and can match to UAV Formation Flight path optimization, so that nobody
Machine carries out formation flight according to the shortest each flight path of non-cross and total distance, can be avoided unmanned plane in flight course
In collide and can guarantee each unmanned plane fly to next task point total path it is most short, and then can guarantee form into columns fly
Row task smoothly completes.
The embodiment of the present invention provides a kind of UAV Formation Flight determining method of path, is determined with current using random fashion
The task point that the next predetermined point of time of unmanned plane in formation needs to reach, i.e., determine each UAV Formation Flight road at random
Diameter mutually this, the embodiment of the present invention is by obtaining each location point of each unmanned plane and lower subtask in formation flight task
Each task point；And matching rule is divided according to predeterminable area, region is carried out to each location point and each task point
It divides and matches two-by-two, can match to obtain the shortest each flight path of non-cross and total distance, each item flight road
Diameter is each location point to the path with each matched task point of location point.At the same time, it can will match
To the corresponding formation flight path for being determined as each unmanned plane of each flight path, so as to realize that formation flight is appointed
Unmanned plane in business carries out formation flight according to the shortest each flight path of non-cross and total distance, can be avoided unmanned plane
Collide in flight course and can guarantee each unmanned plane fly to next task point total path it is most short, and then can
Guarantee that formation flight task smoothly completes.
Further, in order to better illustrate the process that above-mentioned UAV Formation Flight path determines, as to above-mentioned reality
The refinement and extension for applying example, the embodiment of the invention provides another UAV Formation Flight determining method of path, such as Fig. 2 institute
Show, but not limited to this, it is specific as follows shown：
201, each location point of each unmanned plane and each task point of lower subtask in formation flight task are obtained.
202, region corresponding to each location point and each task point is determined as prime area.
It should be noted that the embodiment of the present invention supports the matching way of location point and task point in special circumstances, it is described
Method further includes after step 202：It detects the selected location point and the nearest task point of the distance is linked to be the
With the presence or absence of other positions point and other task points on one straight line；If it exists, then it selects from other described task points apart from institute
State the farthest task point of the set of other positions point；By the nearest location point of the task point of distance selection, it is determined as and the choosing
The matched location point of task point is selected, and repeats to select farthest task point, determination and the matched location point of the selection task point
The step of, until completing the other positions point and the matching of other described task points.
203, location point is selected from the prime area, and with the location point of selection apart from nearest task point.
For example, formation flight task is related to 100 unmanned planes, the position point of 100 unmanned planes is A1-A100,10
The task point of the lower subtask of a unmanned plane is B1-B100, and prime area is whole area corresponding to A1-A100 and B1-B100
Domain can specifically randomly select a location point, and the location point such as chosen is A1, after traversing B1-B100, determine that Bj is distance A1
Nearest task point, then the task point chosen are Bj.
204, the first straight line being linked to be according to the selected location point and the nearest task point of the distance, to described
Prime area carries out region division.
205, divide location point in region and whether task point quantity identical by judging each first, determine it is described away from
From nearest task point whether be and the matched task point of the selected location point.If so, thening follow the steps 206a；If it is not,
Then follow the steps 206b.
Wherein, described first divide region can according to the selected location point and the nearest task point of the distance
The region that the first straight line being linked to be divides after the first straight line carries out region division to prime area, obtains 2 and draws
Subregion is properly termed as left division region and right division region.Therefore, the step 205 is specifically as follows：It is drawn by the way that judgement is left
Whether the location point and task point quantity in subregion identical, and it is right divide region in location point and task point quantity whether phase
Together, come determine the nearest task point of the distance whether be and the matched task point of the selected location point.If left dividing regions
Location point in domain is identical with task point quantity, and the right location point divided in region is identical with task point quantity, it is determined that institute
It states and is and the matched task point of the selected location point apart from nearest task point.Otherwise, the nearest task point of the distance
The not selected matched task point of location point, can execute step 206b at this time.
206a, by the nearest task point of the distance be determined as with the matched task point of the selected location point, and will
Each first division region is identified as the prime area.
The step 206b arranged side by side, close with selected location point distance time from the prime area with step 206a
Task point.
207b, the second straight line being linked to be according to the close task point of the selected location point and the distance time, to institute
It states prime area and carries out region division.
208b, by judge it is each second divide region in location point and task point quantity it is whether identical, determine described in
Time close task point of distance whether be and the matched task point of the selected location point.If so, thening follow the steps 209ba.
Wherein, described second divide region can according to time close task point of the selected location point and the distance
The region that the second straight line being linked to be divides.Appoint it should be noted that the step 208b determines that the distance time is close
Whether business point is detailed process phase with the detailed process of the matched task point of the selected location point and the step 205
Together, the embodiment of the present invention, herein without repeating.If the close task point of the distance time is not and the selected location point
The task point matched, the embodiment of the present invention will continue to select the task point close apart from the location point time time, according to step 206b-
The same rule of 208b traverses each task point, arrives and the matched task point of the selected location point until determining.
209ba, by the distance time close task point be determined as with the matched task point of the selected location point, and will
Each second division region is identified as the prime area.
210, the step of the matched task point of location point from prime area selection location point, determination and selection is repeated
Suddenly, until there is no the location points of non-matching task point, to obtain the shortest each flight path of non-cross and total distance.
In the embodiment of the present invention, by constantly from prime area chosen position point and task point, according to the location point of selection
The straight line connected with task point divides prime area, then according to the location point and task point quantity divided in region, really
It is fixed with the matched task point of the location point, can be realized and divide by layer region and for location point matching task point, can guarantee
Each unmanned plane is non-cross to the path of matched task point from location point.
For example, according to the straight line that the nearest task point Bj of location point A1 and distance A1 is connected, by all location point and
The overall region of task point is divided into left division region, right division region, location point and task points in left division region
Measure it is identical and it is right divide region in location point it is identical with task point quantity when, determine Bj be A1 matching task point.Then exist
Chosen position point A3 and distance A1 nearest task point Bk in left division region, and drawn left division region according to straight line A3-Bk
It is divided into a left side 1 and divides 1 division region of region and the right side, it is identical and 1 stroke right with task point quantity divides the location point in region on a left side 1
When location point in subregion is identical with task point quantity, determines that Bk is the matching task point of A3, then divide region from a left side 1 again
Chosen position point A5 and distance A1 nearest task point Bm... is constantly repeated, likewise, and drawing in the manner described above from the right side
Subregion, 1 division region of the right side, the right side 11 divides region, the right side 111 divides region chosen position point, and determination and the location point
The task point matched, the location point until non-matching task point is not present, due to being same in chosen position point and task point
Progress in region is divided, and unrelated with other regions, therefore the location point selected reaches location point matched with selection
The path of business point will not intersect with other paths.
For the embodiment of the present invention, in order to reduce calculation amount and matching amount, promotes UAV Formation Flight path and determine effect
Rate, the step 210 can specifically include：Repeat the location point from prime area selection location point, determination and selection
The step of task point matched, is less than or equal to preset threshold until some divides the location point number in region；It determines remaining
The shortest matching way of total distance in preset threshold factorial kind matching way between location point and remaining task point；It will be described total
Remaining task point corresponding to rest position point described in the shortest matching way of distance is determined as and the rest position point
The task point matched.
Wherein, the rest position point and the remaining task point are respectively not matched location point and task point.It is described
Preset threshold can be arranged according to hardware processing capability, can also be arranged according to default mode, and the present invention is implemented without limitation.Example
Such as, the preset threshold can be 8, if the preset threshold is 8, have 8 between rest position point and remaining task point！Kind
With mode, rest position point has A22, A33, A44, A55, A66, A77, A88, A99, remaining task point have B10, B7, B5, B3,
B4,B9,B6,B2.The shortest matching way of total distance be A22-B10, A33-B7, A44-B5, A55-B3, A66-B4, A77-B9,
A88-B6, A99-B2, be then respectively with the matched task point of A22, A33, A44, A55, A66, A77, A88, A99 B10, B7, B5,
B3、B4、B9、B6、B2。
211, each flight path that matching obtains is corresponded to the formation flight path for being determined as each unmanned plane.
For the embodiment of the present invention, in order to better understand this programme, following application scenarios are also provided：Formation flight task
It is related to 100 unmanned planes, the position point of 100 unmanned planes is A1-A100, the task point of the lower subtask of 10 unmanned planes
For B1-B100, the step of matching task point and non-cross and total distance shortest each flight path, may include：
1, chosen position point A1 traverses task point B1-B100, chooses wherein with A1 apart from nearest task point Bj；
2, A1 is connected in alignment with Bj, if the location point in straight line left area is identical with task point quantity；Straight line
Location point in right area is identical with task point quantity, it is determined that A1 and Bj successful match, Bj are matched with location point A1
Task point；
If 3, the location point in straight line left area and the location point in task point quantity difference or straight line right area
Different with task point quantity, then selection and A1 are apart from nearest task point Bk；Also according to step 2 determine A1 and Bk whether
Match, continues the close point of selection time time if mismatching and carry out same traversal until meeting successful match；
If 4, successful match, by the location point and task point set, right area in left area location point and
Task point set is matched and is divided in the way of step 1-3 respectively；
5, step 6 is carried out when the location point number for being matched to a certain border region of straight line is less than or equal to preset threshold,
Otherwise continue to match and divide, such as preset threshold is 6；
6, when location point number is less than or equal to 6, the matching way between rest position point and remaining task point has
6！Kind matching way, calculates 6！The shortest matching way of total distance in matching way；By the shortest matching way of the total distance
Described in remaining task point corresponding to rest position point, be determined as with the matched task point of the rest position point, then really
Fixed matching is completed；
If 7, A1 is connected in alignment with Bj there is also other positions point and task point, selects to off normal and set point set
Close farthest task point；Task point traversal location point selects nearest location point to complete to match remaining location point and task
Point continues to find out farthest task point, matches nearest location point by the task point；And so on until complete it is described other
Location point and the matching of other described task points.
The embodiment of the present invention provides another UAV Formation Flight determining method of path, uses random fashion true with current
The task point that the next predetermined point of time of the unmanned plane in team of delimiting the organizational structure needs to reach, i.e., determine each UAV Formation Flight at random
Path is compared, and the embodiment of the present invention is by obtaining each location point of each unmanned plane and lower subtask in formation flight task
Each task point；And matching rule is divided according to predeterminable area, area is carried out to each location point and each task point
Domain divides and matches two-by-two, can match to obtain the shortest each flight path of non-cross and total distance, each item flight
Path is each location point to the path with each matched task point of location point.At the same time, it can will match
The corresponding formation flight path for being determined as each unmanned plane of each obtained flight path, so as to realize formation flight
Unmanned plane in task carries out formation flight according to the shortest each flight path of non-cross and total distance, can be avoided nobody
Machine collide in flight course and can guarantee each unmanned plane fly to next task point total path it is most short, Jin Erneng
Enough guarantee that formation flight task smoothly completes.
Further, as the specific implementation of Fig. 1, the embodiment of the invention provides a kind of UAV Formation Flight path is true
Device is determined, as shown in figure 3, described device includes：Acquiring unit 31, matching unit 32 and determination unit 33.
The acquiring unit 31, can be used for obtaining in formation flight task each location point of each unmanned plane and under
Each task point of subtask.The acquiring unit 31 be in the present apparatus obtain formation flight task in each unmanned plane it is each
The main functional modules of location point and each task point of lower subtask.
The matching unit 32 can be used for dividing matching rule according to predeterminable area to each location point and described
Each task point carries out region division and matches two-by-two, obtains the shortest each flight path of non-cross and total distance, described
Each flight path is each location point to the path with each matched task point of location point.The matching unit
32 be to divide matching rule according to predeterminable area in the present apparatus to carry out region to each location point and each task point
It divides and matches two-by-two, obtain the main functional modules of the shortest each flight path of non-cross and total distance.
The determination unit 33, can be used for will the obtained each flight path of matching it is corresponding be determined as it is described it is each nobody
The formation flight path of machine.The determination unit 33 is that each flight path correspondence that matching obtains is determined as institute in the present apparatus
State the main functional modules in the formation flight path of each unmanned plane.
It is described in order to match to obtain the shortest each flight path of non-cross and total distance for the embodiment of the present invention
Matching unit 32 includes：Determining module 321, selecting module 322 and region division module 323, as shown in Figure 4.
The determining module 321 can be used for region corresponding to each location point and each task point
It is determined as prime area.
The selecting module 322 can be used for from the prime area selecting location point, and the location point with selection
Apart from nearest task point.
The region division module 323 can be used for according to the selected location point and the nearest task of the distance
The be linked to be first straight line of point carries out region division to the prime area.
The determining module 321 can be also used for dividing the location point and task point in region by judging each first
Whether quantity identical, determine the nearest task point of the distance whether be and the matched task point of the selected location point.
The determining module 321, if being also used to the location point and task point quantity phase in each first division region
Together, then the nearest task point of the distance is determined as and the matched task point of the selected location point；And it will be described each
First division region is identified as the prime area, and repeats from prime area selection location point, determination and selection
Location point matched task point the step of, the location point until non-matching task point is not present in each location point.
The selecting module 322, if can be also used for the location point and task points in each first division region
Amount is different, then task point close with the selected location point distance time from the prime area.
The region division module 323 can be also used for appointing according to the selected location point and the distance time are close
The be linked to be second straight line of business point, carries out region division to the prime area.
The determining module, be also used to by judge it is each second divide region in location point and task point quantity whether
It is identical, determine time close task point of the distance whether be and the matched task point of the selected location point；
The determining module 321, if can be also used for the location point and task points in each second division region
Measure it is identical, then by the distance time close task point be determined as with the matched task point of the selected location point, and will be described
Each second division region is identified as the prime area, and repeat from prime area selection location point, determination with
The step of location point of selection matched task point, the location point until non-matching task point is not present.
In order to reduce calculation amount and matching amount, promotes UAV Formation Flight path and determine efficiency, the determining module
321, specifically can be used for it is described each first division region is identified as the prime area, and repeat from described
Prime area select location point, determination and selection location point matched task point the step of, until some first divides region
Interior location point number is less than or equal to preset threshold；Determine the preset threshold rank between rest position point and remaining task point
Multiply the shortest matching way of total distance in kind of matching way；By rest position point described in the shortest matching way of the total distance
Corresponding remaining task point is determined as and the matched task point of the rest position point.
It should be noted that the embodiment of the present invention also supports the matching way of location point in special circumstances and task point, tool
Body, support that in first straight line, the matching unit 32 may be used also there are the matching way of multiple location points and multiple tasks point
To include：Detection module 324.
The detection module 324 can be used for detecting the selected location point and the nearest task point institute of the distance
With the presence or absence of other positions point and other task points in the first straight line being linked to be.
The selecting module 322, if can be also used for detecting the selected location point and the nearest task of the distance
There are other positions points and other task points in the be linked to be first straight line of point, then select from other described task points apart from institute
State the farthest task point of the set of other positions point.
The determining module 321, can be also used for the nearest location point of task point of distance selection, be determined as with it is described
The matched location point of selection task point, and repeat to select farthest task point, determination and the matched position of the selection task point
The step of point, until completing the other positions point and the matching of other described task points.
It should be noted that each involved by a kind of UAV Formation Flight path determining device provided in an embodiment of the present invention
Other corresponding descriptions of functional module, can be with reference to the corresponding description of method shown in Fig. 1, and details are not described herein.
Based on above-mentioned method as shown in Figure 1, correspondingly, the embodiment of the invention also provides a kind of computer-readable storage mediums
Matter is stored thereon with computer program, which realizes following steps when being executed by processor：It obtains each in formation flight task
Each location point of a unmanned plane and each task point of lower subtask；Matching rule is divided to described each according to predeterminable area
A location point and each task point carry out region division and match two-by-two, obtain the shortest each item of non-cross and total distance
Flight path, each flight path are each location point to the road with each matched task point of location point
Diameter；By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
Embodiment based on above-mentioned method as shown in Figure 1 and UAV Formation Flight path as shown in Figure 3 determining device, this
Inventive embodiments additionally provide a kind of entity structure diagram of UAV Formation Flight path determining device, as shown in figure 5, the device
Including：Processor 41, memory 42 and it is stored in the computer program that can be run on memory 42 and on a processor, wherein
Memory 42 and processor 41 are arranged at when the processor 41 executes described program in bus 43 and realize following steps：It obtains
Each location point of each unmanned plane and each task point of lower subtask in formation flight task；It is divided according to predeterminable area
Matching rule carries out region division to each location point and each task point and matches two-by-two, obtain it is non-cross and
The shortest each flight path of total distance, each flight path be each location point to each location point
The path for the task point matched；By the corresponding formation flight road for being determined as each unmanned plane of each flight path that matching obtains
Diameter.The device further includes：Bus 43 is configured as coupling processor 41 and memory 42.
According to the technical solution of the present invention, can obtain in formation flight task each location point of each unmanned plane and
Each task point of lower subtask；And matching rule is divided to each location point and each task according to predeterminable area
Point carries out region division and matches two-by-two, can match to obtain the shortest each flight path of non-cross and total distance, described
Each flight path is each location point to the path with each matched task point of location point.At the same time, energy
Enough corresponding formation flight paths for being determined as each unmanned plane of each flight path for obtaining matching, so as to realize
Unmanned plane in formation flight task carries out formation flight according to the shortest each flight path of non-cross and total distance, can
Avoid unmanned plane from colliding in flight course and can guarantee each unmanned plane fly to next task point total path most
It is short, and then can guarantee that formation flight task smoothly completes.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the superiority and inferiority of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention：It is i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are some or all in unmanned plane according to an embodiment of the present invention to realize
The some or all functions of component.The present invention be also implemented as a part for executing method as described herein or
Whole device or device programs (for example, computer program and computer program product).It is such to realize journey of the invention
Sequence can store on a computer-readable medium, or may be in the form of one or more signals.Such signal can
To download from internet website, perhaps it is provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (10)
1. a kind of UAV Formation Flight determining method of path, which is characterized in that including：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division and two is carried out to each location point and each task point
Two matchings, obtain the shortest each flight path of non-cross and total distance, and each flight path is each position
Point arrives the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
2. the method according to claim 1, wherein described divide matching rule to described each according to predeterminable area
A location point and each task point carry out region division and match two-by-two, specifically include：
Region corresponding to each location point and each task point is determined as prime area；
Select location point from the prime area, and with the location point of selection apart from nearest task point；
According to the first straight line that the selected location point and the nearest task point of the distance are linked to be, to the prime area
Carry out region division；
It by judging each first divides location point in region and whether task point quantity is identical, determines that the distance is nearest
Task point whether be and the matched task point of the selected location point；
If the location point in each first division region is identical with task point quantity, by the nearest task point of the distance
It is determined as and the matched task point of the selected location point；
Each first division region is identified as the prime area, and repeats to select position from the prime area
The step of point, determination and the location point of selection matched task point, until non-matching task is not present in each location point
The location point of point.
3. according to the method described in claim 2, it is characterized in that, described divide the position in region by judging each first
Whether point and task point quantity are identical, determine whether the nearest task point of the distance is matched with the selected location point
After task point, the method also includes：
If described each first divides location point in region and task point quantity is different, from the prime area with it is described
The close task point of the location point distance time of selection；
According to the second straight line that the close task point of the selected location point and the distance time is linked to be, to the prime area
Carry out region division；
It by judging each second divides location point in region and whether task point quantity is identical, determines that the distance time is close
Task point whether be and the matched task point of the selected location point；
If the location point in each second division region is identical with task point quantity, by the close task point of the distance time
It is determined as and the matched task point of the selected location point；
Each second division region is identified as the prime area, and repeats to select position from the prime area
The step of point, determination and the location point of selection matched task point, the location point until non-matching task point is not present.
4. according to the described in any item methods of Claims 2 or 3, which is characterized in that described to divide region for described each first
It is identified as the prime area, and repeats to match from prime area selection location point, determination with the location point of selection
Task point the step of, until be not present non-matching task point location point, specifically include：
It is described that each first division region is identified as the prime area, and repeat to select from the prime area
The step of location point, determination and the location point of selection matched task point, until some first divides position points in region
Mesh is less than or equal to preset threshold；
Determine the shortest matching of total distance in the preset threshold factorial kind matching way between rest position point and remaining task point
Mode；
By remaining task point corresponding to rest position point described in the shortest matching way of the total distance, be determined as with it is described
The matched task point of rest position point.
5. according to the method described in claim 2, it is characterized in that, described select location point from the prime area, and
Location point with selection after nearest task point, the method also includes：
It detects in the first straight line that the selected location point and the nearest task point of the distance are linked to be with the presence or absence of other
Location point and other task points；
If it exists, then the task point farthest apart from the set of the other positions point is selected from other described task points；
By the nearest location point of task point of distance selection, be determined as with the matched location point of the selection task point, and repeat
The step of selecting farthest task point, determination and the selection task point matched location point, until completing the other positions
Point and the matching of other described task points.
6. a kind of UAV Formation Flight path determining device, which is characterized in that including：
Acquiring unit, for obtaining each of each location point of each unmanned plane in formation flight task and lower subtask
Business point；
Matching unit carries out each location point and each task point for dividing matching rule according to predeterminable area
It region division and matches two-by-two, obtains the shortest each flight path of non-cross and total distance, each flight path is
Each location point is to the path with each matched task point of location point；
Determination unit, the corresponding formation flight road for being determined as each unmanned plane of each flight path for obtaining matching
Diameter.
7. device according to claim 6, which is characterized in that the matching unit includes：
Determining module, for region corresponding to each location point and each task point to be determined as prime area；
Selecting module, for selecting location point from the prime area, and with the location point of selection apart from nearest task
Point；
Region division module, first for being linked to be according to the selected location point and the nearest task point of the distance are straight
Line carries out region division to the prime area；
The determining module, be also used to by judge it is each first divide region in location point and task point quantity whether phase
Together, determine the nearest task point of the distance whether be and the matched task point of the selected location point；
The determining module will if the location point being also used in each first division region is identical with task point quantity
The nearest task point of the distance is determined as and the matched task point of the selected location point；And described each first is divided
Region is identified as the prime area, and repeats the location point from prime area selection location point, determination and selection
The step of matched task point, the location point until non-matching task point is not present in each location point.
8. device according to claim 6, which is characterized in that
The selecting module, if the location point and task point quantity that are also used in each first division region are different, from
The task point close with the selected location point distance time in the prime area；
The region division module is also used to be linked to be according to the close task point of the selected location point and the distance time
Second straight line carries out region division to the prime area；
The determining module, be also used to by judge it is each second divide region in location point and task point quantity whether phase
Together, determine time close task point of the distance whether be and the matched task point of the selected location point；
The determining module will if the location point being also used in each second division region is identical with task point quantity
The distance time close task point be determined as with the matched task point of the selected location point, and will each second division
Region is identified as the prime area, and repeats the location point from prime area selection location point, determination and selection
The step of matched task point, the location point until non-matching task point is not present.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Following steps are realized when row：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division and two is carried out to each location point and each task point
Two matchings, obtain the shortest each flight path of non-cross and total distance, and each flight path is each position
Point arrives the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
10. a kind of UAV Formation Flight path determining device, including memory, processor and storage are on a memory and can be
The computer program run on processor, which is characterized in that the processor realizes following steps when executing described program：
Obtain each location point of each unmanned plane and each task point of lower subtask in formation flight task；
Matching rule is divided according to predeterminable area, and region division and two is carried out to each location point and each task point
Two matchings, obtain the shortest each flight path of non-cross and total distance, and each flight path is each position
Point arrives the path with each matched task point of location point；
By the corresponding formation flight path for being determined as each unmanned plane of each flight path that matching obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213162.1A CN108871330B (en) | 2018-03-14 | 2018-03-14 | Unmanned aerial vehicle formation flight path determination method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213162.1A CN108871330B (en) | 2018-03-14 | 2018-03-14 | Unmanned aerial vehicle formation flight path determination method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108871330A true CN108871330A (en) | 2018-11-23 |
| CN108871330B CN108871330B (en) | 2022-12-13 |
Family
ID=64326083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810213162.1A Active CN108871330B (en) | 2018-03-14 | 2018-03-14 | Unmanned aerial vehicle formation flight path determination method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108871330B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109933089A (en) * | 2019-03-25 | 2019-06-25 | 北京邮电大学 | Based on the multiple no-manned plane mission planning method and device for minimizing ceiling capacity consumption |
| CN110347180A (en) * | 2019-08-12 | 2019-10-18 | 南京邮电大学 | The method for calculating the most short tail clearance that unmanned plane cluster is formed into columns again |
| CN111722639A (en) * | 2019-03-18 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Takeoff control method, device and system of unmanned aerial vehicle cluster and readable medium |
| CN114355881A (en) * | 2021-11-26 | 2022-04-15 | 珠海云洲智能科技股份有限公司 | Formation transformation method, device and medium for unmanned ship formation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050230563A1 (en) * | 2004-02-21 | 2005-10-20 | Corcoran James J Iii | Automatic formation flight control system |
| CN102419598A (en) * | 2011-12-08 | 2012-04-18 | 南京航空航天大学 | Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles |
| US20140025228A1 (en) * | 2012-07-18 | 2014-01-23 | Jung Soon Jang | Mission re-planning for coordinated multivehicle task allocation |
| CN103744290A (en) * | 2013-12-30 | 2014-04-23 | 合肥工业大学 | Hierarchical target allocation method for multiple unmanned aerial vehicle formations |
-
2018
- 2018-03-14 CN CN201810213162.1A patent/CN108871330B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050230563A1 (en) * | 2004-02-21 | 2005-10-20 | Corcoran James J Iii | Automatic formation flight control system |
| CN102419598A (en) * | 2011-12-08 | 2012-04-18 | 南京航空航天大学 | Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles |
| US20140025228A1 (en) * | 2012-07-18 | 2014-01-23 | Jung Soon Jang | Mission re-planning for coordinated multivehicle task allocation |
| CN103744290A (en) * | 2013-12-30 | 2014-04-23 | 合肥工业大学 | Hierarchical target allocation method for multiple unmanned aerial vehicle formations |
Non-Patent Citations (1)
| Title |
|---|
| 赵明: "多无人机***的协同目标分配和航迹规划方法研究", 《中国博士学位论文全文数据库 工程科技II辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111722639A (en) * | 2019-03-18 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Takeoff control method, device and system of unmanned aerial vehicle cluster and readable medium |
| CN109933089A (en) * | 2019-03-25 | 2019-06-25 | 北京邮电大学 | Based on the multiple no-manned plane mission planning method and device for minimizing ceiling capacity consumption |
| CN110347180A (en) * | 2019-08-12 | 2019-10-18 | 南京邮电大学 | The method for calculating the most short tail clearance that unmanned plane cluster is formed into columns again |
| CN114355881A (en) * | 2021-11-26 | 2022-04-15 | 珠海云洲智能科技股份有限公司 | Formation transformation method, device and medium for unmanned ship formation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108871330B (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108871330A (en) | UAV Formation Flight determining method of path and device | |
| JP6397608B2 (en) | Mission rescheduling for systematic task assignment across multiple vehicles | |
| US11063847B2 (en) | Service function chain mapping using multiple parallel microservices instances | |
| JP2014059860A5 (en) | ||
| Kim et al. | Real-time path planning with limited information for autonomous unmanned air vehicles | |
| Ponda et al. | Decentralized planning for complex missions with dynamic communication constraints | |
| KR20210108479A (en) | Systems and methods for route planning | |
| US9547311B2 (en) | Planning and monitoring of autonomous-mission | |
| US20180106628A1 (en) | Method, computer program and system for controlling a movement of a moving agent within a networked environment | |
| US20160139769A1 (en) | Visualization of an object using a visual query system | |
| Whitbrook et al. | A novel distributed scheduling algorithm for time-critical multi-agent systems | |
| CN105426257B (en) | The execution method and device of task | |
| CN109739226A (en) | Target inspection method for determining position and device | |
| CN108762293A (en) | Sector scanning method, ground control station, unmanned plane and system based on unmanned plane | |
| CN107748499A (en) | The optimization method and device of fixed-wing unmanned plane multizone detection mission planning | |
| CN109710362A (en) | Screenshot processing method calculates equipment and computer storage medium | |
| BR102014005861A2 (en) | Mounting Visualization System Condition | |
| CN108508911A (en) | UAV Formation Flight control method and unmanned plane | |
| CN112464497A (en) | Fault drilling method, device, equipment and medium based on distributed system | |
| CN109827584A (en) | Paths planning method, device, electronic equipment and storage medium | |
| US10635982B2 (en) | Optimizing spatiotemporal computational problems | |
| CN107037826B (en) | Unmanned plane detection mission distribution method and device | |
| Gautam et al. | A distributed algorithm for balanced multi-robot task allocation | |
| CN106570026B (en) | The creation method and device of bubble diagram | |
| TW202318440A (en) | Distributed computing for dynamic generation of optimal and interpretable prescriptive policies with interdependent constraints |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |