Primary-secondary unmanned aerial vehicle delivery decision-making and path planning integrated method and system

• Main Authors: LI YUNPENG, CAI BO, YANG JIANAN, ZHANG LIXIAN, LIANG YE, DING YIHANG, HAN YUEJIANG, WU TONG
• Format: Patent
• Language: Chinese; English
• Published: 31.01.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a primary-secondary unmanned aerial vehicle delivery decision-making and path planning integrated method and system, and relates to the technical field of unmanned aerial vehicle path planning. The method is characterized by comprising the following steps: constructing a three-dimensional map environment according to the task requirements of the child-mother type unmanned aerial vehicle; determining the number of sub-aircrafts of the sub-mother type unmanned aerial vehicle and the target position of each sub-aircraft; establishing a path cost function according to the target position and the terrain height of each sub-machine; the improved particle swarm algorithm is used to obtain the flight paths of the mother platform and the son aircraft in the son-mother unmanned aerial vehicle, wherein the initial flight path point of the son aircraft is the launched position. Specific separation point selection in the child-mother type unmanned aerial vehicle launching process serves as a core,