Multi- UAVs Route Planning Technology Study On The Local Adjustment

Unmanned aerial vehicles(UAV),have been widely used in some areas,such as military, civilian and scientific research.Especially, in the practice of military reconnaissance and combat missions, UAV-related technology are gaining more and more International attention. Because of the complexity of the related technology and task,during the actual flight, facing task delays,unable to match,change the task and so on,the successor tasks cannot be executed, especially in multi-UAVs collaborative task.Therefore,to study local adjustment planning of UAV technology is of great theoretical and practical significance.Firstly, in the process of UAV actual flight, some out-of-tolerance problems are described and classification. In addition, we have a variety of decision-making analysis of out-of-tolerance problems according to these complex scenes and context, in accordance with the decision of the decision tree method to classify and deal with the out-of-tolerance problems. Finally,the simulation interface of local adjustment path planning system are introduced and some main functions are recommended.Secondly, for the typical representatives of the out-of-tolerance problems, fail to match problem and change the target problem for the route of single UAV, need to be adjusted and improved of real-time in the local area. For failing to match,different algorithms are described in detail, according to the success rate and the panning time. For changing the target, local adjustment is accomplished and some possible problems are raised and improved.Above all, On the basis of single UAV out-of-tolerance processing, Multi-UAVs' out-of-tolerance problems are researched deeply in the local area.To begin with, in the process of Multi-UAVs actual flight, fail to match problem and change the target problem are described in detail,at the same time further analysis and simulation are realized. On the basis of scene analysis for typical out-of-tolerance problems,the corresponding routes are adjusted in the local area by oriented circle genetic algorithm for Multi-UAVs. Moreover, cooperativity and Collision resistance are taken into account between two different routes. we plan the standard track firstly,then plan the Collaborativetrack.Via the speed,we can cooperate with the different routes and avoid the impossible collision. Finally, though simulation experiments, the feasibility and effectiveness of the Multi-UAVs local adjustment method is validated.