Path Planning For The Dual UAVs Vehicle-borne System

In the research of multi-robot,heterogeneous robot systems have been widely used due to their individual performance characteristics,especially in some environments that it's complex,changeable,dangerous and unknown.Aiming at the low efficiency of single heterogeneous robot system,this thesis studies the path planning problem of a class of dual UAVs heterogeneous robot systems,and proposes a new path planning scheme.The main research work and innovations of this thesis are as follows:(1)based on the application of multi-robot system and the research status of path planning problem,the existing multi-robot system path planning method is studied by referring to a large number of documents.The classification,induction,summarization and analysis from the perspective of classical algorithm and modern algorithm respectively provide ideas for solving and improving the path planning problem.(2)A solution to the optimal path planning problem for a class of dual UAVs vehicle-borne heterogeneous robot systems is proposed.By introducing logical variables to determine the interaction between heterogeneous individuals and combining with the individual constraints of the robot,it solves the problem of mutual cooperation between the two UAVs and between the UAVs and the ground mobile robot while ensuring the individual behavior of the two UAVs.At the same time,considering that the order of the target is sometimes not fixed,this thesis proposes to optimize the access sequence while optimizing the system to obtain the optimal taking points and landing points of the UAV in the optimal access sequence.Considering the practical feasibility,this thesis also smooths the planning path.(3)based on the previous research,this thesis proposes an Improve Salp Swarm Algorithm(ISSA)to simulate the proposed model.By comparing with a single heterogeneous robot system and different algorithms,the feasibility of the proposed model and the superiority of the improved algorithm in solving performance and algorithm efficiency are verified.At the same time,the thesis verifies the optimizationof the scheme of adding the access sequence.Experiments show that the proposed method improves the path planning performance of the dual-UAV vehicular heterogeneous robot system.