多目标点同时到达约束下的集群四维轨迹规划设计

Four-dimensional Drone Cluster Route Planning under the Constraint of Simultaneous Multi-obiective Arrival

文章提出一种多目标点同时到达约束下的规划设计方法,其由匈牙利算法实现最优目标分配,防撞算法给出速度分段矩阵,经无人机运动学特性修正后,输出值可直接写入无人机地面站控制飞行。该方法在保证飞行器飞行安全的情况下,不仅解决了现有等长轨迹规划法导致的飞行器跟踪轨迹复杂性问题,同时也优化了飞行器同时到达多目标点的飞行时间。

It presented a design method for simultaneous arrival of multiple objective points under constraint of reaching simultaneously. The optimal target allocation part is realized through the Hungarian algorithm, and drones' velocity segmented matrix is given by Anti-collision algorithm. After modifying according to dynamic characteristics of drone, the output of the algorithm can be directly imported to the ground station to control the flight. This method solves the complexity of aircraft tracking trajectory caused by the existing equal-length trajectory planning method, and optimizes the flight time of aircraft reaching multiple target points simultaneously while ensuring the flight safety.