面向频谱测绘任务的多无人机协同航迹规划方法

针对非合作环境下的传统频谱地图测绘方法中存在的低精度、低效率问题，本文提出了一种基于人工势场法的多无人机协同航迹规划方法。首先，构建了多无人机协同测绘方案及优化目标；然后，通过多无人机的预先航迹规划完成对环境的初步感知，并基于感知信息提出基于人工势场法的多无人机协同航迹参数设计方法；之后，基于设计的参数及采集的数据完成航迹的再规划，从而有效规避多无人机飞行过程中可能存在的重复采集数据及无人机之间发生碰撞等问题。仿真结果表明，相比与传统单无人机航迹规划方法，本文所提航迹规划方法能够高效、高精度、安全地完成测绘任务，所得结果满足了多架无人机协同飞行要求，具有较强的理论与实用价值。 

A Multi-UAVs Cooperative Trajectory Planning Method for Spectrum Mapping Tasks

? ?To solve the problems of low accuracy and low efficiency in the traditional spectrum mapping method in non-cooperative environment， a multi-UAVs cooperative trajectory planning method based on artificial potential field method was proposed in this paper. Firstly， the multi-UAVs cooperative mapping scheme and optimization objectives were constructed. Then， the preliminary perception of the environment was completed through the pre-trajectory planning of multiple UAVs， and a multi-UAVs cooperative trajectory parameter design method based on artificial potential field method was proposed based on the perception information. Based on the designed parameters and collected data， the re-planning of the trajectory was completed， so as to effectively avoid the problems that may exist in the flight process of multiple UAVs， such as repeated data acquisition and collision between UAVs. The simulation results show that compared with the traditional single UAV trajectory planning method， the proposed trajectory planning method can complete the mapping task efficiently， accurately and safely. The results meet the requirements of cooperative flight of multiple UAVs and have strong theoretical and practical value.