公开(公告)号：US10140875B1

公开(公告)日：2018-11-27

申请号：US15953881

申请日：2018-04-16

申请人： Hefei University of Technology

发明人： He Luo ,  Guoqiang Wang ,  Zhengzheng Liang ,  Xiaoxuan Hu ,  Shanlin Yang ,  Huawei Ma ,  Wei Xia ,  Peng Jin ,  Moning Zhu ,  Yanqiu Niu ,  Xiang Fang

IPC分类号： G08G5/00 ,  G06Q10/04 ,  G06N3/12 ,  B64C39/02

CPC分类号： G08G5/0043 ,  B64C39/024 ,  B64C2201/141 ,  G06N3/126 ,  G06Q10/047 ,  G08G5/0013 ,  G08G5/0026 ,  G08G5/0039

摘要： The embodiments of the present invention disclose a method and apparatus for joint optimization of multi-UAV task assignment and path planning. The method comprises: obtaining the location information of a plurality of UAVs and a plurality of target points, the dispersion of groundspeed course angle, and motion parameters of each UAV and wind field; constructing an initial population based on the location information, the dispersion of groundspeed course angle and a preset genetic algorithm; determining the flight status of each UAV and the flight time taken by each UAV to complete a path segment of the corresponding Dubins flight path based on the initial population and the motion parameters, obtaining the total time taken by all the UAVs corresponding to each chromosome to complete the task based on the flight time of the path segment; and subjecting the chromosomes in the initial population to crossover and mutation based on the genetic algorithm and, when a predetermined number of iterations is reached, selecting the optimal Dubins flight path as the joint optimization result. In the embodiments of the present invention, the UAV flight path planning problem is combined with the actual flight environment of the UAV, so that the optimal flight path obtained is superior to the solution in which the UAV speed is constant.