CN107728643A - A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment - Google Patents
A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment Download PDFInfo
- Publication number
- CN107728643A CN107728643A CN201711102120.2A CN201711102120A CN107728643A CN 107728643 A CN107728643 A CN 107728643A CN 201711102120 A CN201711102120 A CN 201711102120A CN 107728643 A CN107728643 A CN 107728643A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- task
- decision
- cluster
- making
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The present invention proposes a kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment, it is intended to realizes that unmanned aerial vehicle group under dynamic environment breaks away from the limitation of ground control station, independently carries out task scheduling, and improve the real-time of task scheduling.Realize that step is：Decision-making unmanned plane distributes task to each cluster unmanned plane and sends execute instruction；The execute instruction that each cluster unmanned plane is sent according to decision-making unmanned plane performs task, and is communicated by heartbeat mechanism with decision-making unmanned plane；Decision-making unmanned plane optimizes scheduling to each cluster unmanned plane task；Each cluster unmanned plane performs redefining for task according to respective flight path, and keeps forming into columns；Each cluster unmanned plane task performance of decision-making monitoring unmanned, when whole tasks are completed, unmanned aerial vehicle group makes a return voyage.The present invention can make unmanned aerial vehicle group select correct dispatching method for the change of dynamic environment, improve task scheduling real-time, enable the execution task that unmanned aerial vehicle group is autonomous.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, the unmanned aerial vehicle group distributed task dispatching side being related under a kind of dynamic environment
Method, available for fields such as forest fire protection, electric inspection process, environmental monitoring, disaster inspection and anti-terrorism lifesavings.
Background technology
Unmanned plane as modern high technology equipment one of, its unique effect in military and civilian increasingly by
Pay attention to, and the technology of unmanned plane correlation experienced the development and accumulation of decades, also reach its maturity.Appoint as unmanned plane performs
The environment of business is increasingly complicated, and task type is increasingly various, and unmanned plane is had begun to from the mode of single rack time independent task towards more
The group of planes direction of operation development of sortie, polymorphic type.Compared to one-of-a-kind system, unmanned plane cluster can preferably play multiple unmanned planes
Advantage, task processing ability it is also stronger.How multiple tasks to be distributed to by multiple UAVs by task scheduling and are realized
Optimal overall efficiency, it is a good problem to study.
The centralized advance scheduling of concern mostly of multiple no-manned plane task scheduling research at present, by the operation in ground control station
Personnel formulate task scheduling approach and the specific flight route of unmanned plane, unmanned plane do not possess decision-making capability in itself, fully according to
The assignment instructions and air route that ground control station is sent perform task.Under the trend that unmanned plane capacity of will improves constantly, distribution
Formula scheduling turns into an important development direction of unmanned plane task scheduling.But for the dynamic dispatching during tasks carrying, especially
It is that distributed dynamic task scheduling lacks research.For the Mission Scheduling in unmanned aerial vehicle group cooperative working process, research
Distributed task dispatching method, realize that the multiple no-manned plane task scheduling under dynamic environment is to be highly desirable with higher efficiency
's.
From the point of view of existing disclosed data, certain methods are proposed for the task scheduling of unmanned aerial vehicle group.Such as authorize public
Announcement number is CN104615143B, the Chinese patent of entitled " unmanned plane dispatching method ", discloses a kind of unmanned plane dispatching method,
This method comprises the following steps：Unmanned plane sends itself identity ID, current IP and current flight status data to service
Device；After server receives the identity ID, current IP and current flight status data, according to identity ID, current IP and work as
Preceding Flight Condition Data is monitored in real time to the state of flight of corresponding unmanned plane, and according to task data sheet set in advance
Generation performs assignment instructions, is sent the execution assignment instructions to corresponding unmanned plane according to the identity ID；The task data
Table is the associated steps of identity ID, destination, avionics type and destination data；Unmanned plane is receiving corresponding execution assignment instructions
Afterwards, corresponding task is performed according to the execution assignment instructions.This method can be scheduled control to unmanned aerial vehicle group, but existing
Weak point is：1. the unmanned aerial vehicle group of this method needs to communicate with ground control station in task process is performed, when unmanned plane with
The failure of task can be directly resulted in during data communication disruption between earth station, it is impossible to realize that the autonomous execution of unmanned aerial vehicle group is appointed
Business；2. dynamic and uncertain and Collaborative Control complexity due to environment so that many occurs after starting in task
Unforeseen situation, this method can not carry out task scheduling in real time for this current intelligence.
The content of the invention
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, it is proposed that nobody under a kind of dynamic environment
Group of planes distributed task dispatching method, it is intended to realize that unmanned aerial vehicle group under dynamic environment breaks away from the limitation of ground control station, independently enter
Row task scheduling, and improve the real-time of task scheduling.
The technology of the present invention thinking is：Host node of the decision-making unmanned plane as Distributed Architecture, it is responsible for the whole unmanned plane of monitoring
Group simultaneously carries out task scheduling to cluster unmanned plane；Cluster unmanned plane as Distributed Architecture from node, be responsible for performing decision-making without
The task of man-machine issue；Decision-making unmanned plane is communicated with cluster unmanned plane by heartbeat mechanism, monitor current each cluster nobody
Whether machine state and task situation change；Decision-making unmanned plane can make phase according to the data variation and environmental situation of monitoring
The decision scheme answered；Redefining for task and flight path are distributed to each collection by decision-making unmanned plane according to different decision schemes
Group's unmanned plane, re-starts task scheduling.
According to above-mentioned technical thought, realize that the technical scheme that the object of the invention is taken is：
A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment, by being used as distributed structure/architecture host node
Decision-making unmanned plane and the cluster unmanned plane realization from node, comprise the following steps：
(1) decision-making unmanned plane distributes task to each cluster unmanned plane and sends execute instruction：
(1a) decision-making unmanned plane determines that cluster unmanned plane state, including the quantity of cluster unmanned plane, each cluster unmanned plane fly
Row parameter and endurance；
(1b) decision-making unmanned plane determines pending task situation, including task number, task object position and task character；
(1c) decision-making unmanned plane is treated according to cluster unmanned plane state and pending task situation to the distribution of each cluster unmanned plane
Execution task, and send execute instruction；
(2) execute instruction that each cluster unmanned plane is sent according to decision-making unmanned plane performs task, and by heartbeat mechanism with
Decision-making unmanned plane is communicated, and respective flight position, endurance and tasks carrying situation data are sent to decision-making unmanned plane；
(3) decision-making unmanned plane optimizes scheduling to each cluster unmanned plane task：
(3a) decision-making unmanned plane is monitored in real time to cluster unmanned plane state and tasks carrying situation, obtains real time environment
Situation Assessment result, and the data and real time environment Situation Assessment result sent according to each cluster unmanned plane received, judge
Whether optimizing and scheduling task is carried out, if so, performing step (3b), otherwise each cluster unmanned plane is continued executing with by former execute instruction and appointed
Business；Wherein, each the cluster unmanned plane state and tasks carrying situation that decision-making unmanned plane monitors in real time, including each cluster unmanned plane fly
Line position is put and endurance, and current task number, task object position and task character；
(3b) decision-making unmanned plane formulates different decision-makings according to the current each cluster unmanned plane state and task situation that monitor
Scheme：
When decision-making monitoring unmanned is to having cluster unmanned plane operation exception or cluster unmanned plane endurance not to support
When it completes task, redefine the cluster unmanned plane number that can continue executing with task, and count occur abnormal cluster without
Man-machine can not performing for task, it is determined that the cluster unmanned plane of abnormal unmanned plane execution task can be replaced；
When decision-making monitoring unmanned to during task number increase, determine emerging task object position and have the ability complete
The cluster unmanned plane of new task；
When decision-making monitoring unmanned to task number is reduced, it is determined that the cluster unmanned plane of the task is performed, to the cluster
Unmanned plane sends pause instruction, and the pause of cluster unmanned plane performs the task and waits new assignment instructions to be received；
(3c) decision-making unmanned plane is according to different decision schemes, by redefining for task and its corresponding flight path point
Each cluster unmanned plane of dispensing；
(4) each cluster unmanned plane performs redefining for task, and keep forming into columns according to respective flight path；
(5) each cluster unmanned plane task performance of decision-making monitoring unmanned, when whole tasks are completed, the finger that makes a return voyage is sent
Order, unmanned aerial vehicle group drop to designated area.
The present invention compared with prior art, has the following advantages that：
1st, the present invention uses decision-making unmanned plane distributed as the unmanned aerial vehicle group from node as host node, cluster unmanned plane
Framework, decision-making unmanned plane replace ground control station, are communicated by heartbeat mechanism with cluster unmanned plane, monitor whole unmanned plane
Group, quickly can be collected and analyze to mission bit stream, be resolved the concrete scheme of Mission Scheduling, realize nobody
The autonomous task scheduling of a group of planes, has broken away from the limitation of ground control station.
2nd, the present invention realizes each cluster unmanned plane during flying position of decision-making monitoring unmanned and endurance, and current task
Number, task object position and task character, different decision-making parties is formulated according to the change of environmental situation and unmanned aerial vehicle group state
Case, it can really adapt to complicated task environment in the task of Real time optimal dispatch unmanned aerial vehicle group under dynamic environment.
Brief description of the drawings
Fig. 1 is the structural representation of the applicable scheduling system of the present invention；
Fig. 2 is the implementation process figure of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Reference picture 1, the applicable scheduling system of the present invention, including decision-making unmanned plane and multiple cluster unmanned planes.
Decision-making unmanned plane includes communication module, monitoring module and task scheduling modules.Communication module is used for decision-making unmanned plane
The transmission information between cluster unmanned plane, including the task scheduling approach of decision-making unmanned plane issue and the flight path of planning, collection
Group's unmanned plane tasks carrying situation, flight position information, endurance and the task object information of collection；Monitoring module is used to receive
Collection communication module gets data, monitors each cluster unmanned plane state and task situation, including each cluster unmanned plane during flying position
With endurance, current task number, task object position and task character, current each cluster unmanned plane state and task are judged
Whether situation changes；Task scheduling modules are used for each the cluster unmanned plane state and task feelings collected according to monitoring module
Condition, different task scheduling scheme is formulated for cluster unmanned plane.
Cluster unmanned plane includes communication module, information acquisition module and task execution module.Information acquisition module is used to adopt
Collect unmanned plane during flying position, endurance and task object situation；Task execution module is distributed to for receiving decision-making unmanned plane
The task of each cluster unmanned plane, and control cluster unmanned plane to perform task according to the flight path of planning.
A kind of unmanned aerial vehicle group distributed task dispatching method under reference picture 2, dynamic environment, by being used as distributed structure/architecture
The decision-making unmanned plane of host node and the cluster unmanned plane realization from node, comprise the following steps：
Step 1, decision-making unmanned plane distributes task to each cluster unmanned plane and sends execute instruction：
Step 1a, decision-making unmanned plane determine cluster unmanned plane state, including the quantity of cluster unmanned plane, each cluster unmanned plane
Flight parameter and endurance, wherein unmanned plane during flying parameter include signal quality, the tasks carrying mould of unmanned plane transport module
Reaction speed, unmanned plane during flying posture and the real-time three-dimensional coordinate position of block；
Step 1b, decision-making unmanned plane determine pending task situation, including task number, task object position and task
Matter, task object position are positioned by the three-dimensional variable of longitude, latitude and height, and unmanned plane can be determined by task character
The task type that group performs, Fight Fire in Forest task is such as completed, on fire count out as task number, each point of origin position is task mesh
Cursor position, target rescue is task character；
Step 1c, decision-making unmanned plane is according to cluster unmanned plane state and pending task situation, to each cluster unmanned plane point
With pending task, and execute instruction is sent, decision-making unmanned plane considers cluster unmanned plane and performs task ability and continuation of the journey energy
Power, specific point target on fire is distributed into each cluster unmanned plane by communication module, and be the planning flight of each cluster unmanned plane
Path；
Step 2, the execute instruction that the task execution module of each cluster unmanned plane is sent according to decision-making unmanned plane controls cluster
Unmanned plane performs task, and is communicated by heartbeat mechanism with decision-making unmanned plane, and respective flight is sent to decision-making unmanned plane
Position, endurance and tasks carrying situation；
Step 2a, each cluster unmanned plane were sent out every 5 seconds in task process is performed by communication module to decision-making unmanned plane
Send a packet and wait the returned data of decision-making unmanned plane, the data in the packet of transmission include cluster unmanned plane
ID, current flight position, endurance and task performance；
Step 2b, the packet that decision-making unmanned plane is sent to each cluster unmanned plane received parse, monitoring module
The data that each cluster unmanned plane is sent are obtained, determine each cluster unmanned plane state, it is predetermined to ensure that each cluster unmanned plane is not offset
Flight path, and a corresponding packet is replied to each cluster unmanned plane by communication module, decision-making unmanned plane carries out task
The data for the packet replied during scheduling include the task for the distribution of cluster unmanned plane and the flight path and environmental situation of planning
Information, if decision-making unmanned plane did not receive the packet sent from a certain cluster unmanned plane, decision-making unmanned plane in 15 seconds
It will be regarded as disconnecting with the cluster unmanned plane；
Step 2c, each cluster unmanned plane receive the packet that decision-making unmanned plane is replied, and complete heartbeat communication, pass through the heart
Jump mechanism can ensure that decision-making unmanned plane keeps communicating with each cluster unmanned plane, can monitor each cluster unmanned plane in real time, it is ensured that
Task smoothly performs and can carry out new task scheduling abnormal conditions occur；
Step 3, decision-making unmanned plane optimizes scheduling to each cluster unmanned plane task：
Step 3a, decision-making unmanned plane are monitored in real time to cluster unmanned plane state and tasks carrying situation, are obtained in real time
Environmental situation assessment result, and the data and real time environment Situation Assessment result sent according to each cluster unmanned plane received,
Optimizing and scheduling task is judged whether to, if so, performing step (3b), otherwise each cluster unmanned plane is continued to hold by former execute instruction
Row task；Wherein, each the cluster unmanned plane state and tasks carrying situation that decision-making unmanned plane monitors in real time, including each cluster nobody
Machine flight position and endurance, and current task number, task object position and task character：
Step 3a1, decision-making unmanned plane arrange respective flight position, endurance and the task that each cluster unmanned plane is sent
Implementation status data, and colliding data and invalid data therein are cleaned, obtain valid data；
Step 3a2, decision-making unmanned plane forms tracking view according to obtained valid data, and utilizes the tracking view formed
Each cluster unmanned plane effective coverage range, intervisibility and mobility are assessed, obtain real-time task environmental situation information；
Step 3a3, decision-making unmanned plane are tight to environment potential threat and task object according to real-time task environmental situation information
Anxious degree is assessed, and obtains real-time task environmental situation assessment result；
Step 3b, current each cluster unmanned plane shape that the task scheduling modules of decision-making unmanned plane change according to monitoring
State and task situation, formulate different decision schemes：
When decision-making monitoring unmanned is to having cluster unmanned plane operation exception or cluster unmanned plane endurance not to support
When it completes task, task scheduling modules redefine the unmanned plane number that can continue executing with task, and it is abnormal to count appearance
Cluster unmanned plane can not the performing of the task, it is determined that abnormal unmanned plane can be replaced to perform the cluster unmanned plane of task, cluster without
Man-machine something unexpected happened possible during tasks carrying causes unmanned plane during flying failure, loses and write to each other with decision-making unmanned plane
Or because battery electric quantity problem leads to not continue to complete task, decision-making unmanned plane needs statistical cluster unmanned plane again and dispatched
Task；
When decision-making monitoring unmanned is to during task number increase, task scheduling modules determine emerging task object position
With it is capable completion new task cluster unmanned plane, unmanned aerial vehicle group perform Fight Fire in Forest task process in, it is possible that newly
Point of origin, decision-making unmanned plane obtains new aiming spot on fire from cluster unmanned plane by communication module, and according to current
Each cluster unmanned plane residue endurance and state determine that the cluster unmanned plane of new fire extinguishing task can be completed；
When decision-making monitoring unmanned to task number is reduced, task scheduling modules determine perform the task cluster nobody
Machine, pause instruction being sent to the cluster unmanned plane, the pause of cluster unmanned plane performs the task and waits new assignment instructions to be received,
In unmanned aerial vehicle group performs Fight Fire in Forest task process, such as there is the situation of target point of origin extinguishing, go to the target location
Cluster unmanned plane can not just continue the task, and decision-making unmanned plane needs to send pause instruction to the cluster unmanned plane and distributed for it
New task；
Step 3c, the task scheduling modules of decision-making unmanned plane by redefining for task and fly according to different decision schemes
Each cluster unmanned plane is distributed in walking along the street footpath by communication module, while estimates that each cluster unmanned plane completes the time of required by task；
Step 4, each cluster unmanned plane performs redefining for task according to respective flight path, and keeps forming into columns, and wraps
Include in-flight to form into columns and keep, or the switching of different formation forms, or keep control formation expansion under formation form permanence condition, receive
Contracting and steering；
Step 5, the monitoring module of decision-making unmanned plane monitors each cluster unmanned plane task performance, when whole tasks are completed
When, instruction of making a return voyage is sent, unmanned aerial vehicle group drops to designated area.
Claims (6)
1. a kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment, it is characterised in that by being used as distributed frame
The decision-making unmanned plane of structure host node and the cluster unmanned plane realization from node, comprise the following steps：
(1) decision-making unmanned plane distributes task to each cluster unmanned plane and sends execute instruction：
(1a) decision-making unmanned plane determines cluster unmanned plane state, including the quantity of cluster unmanned plane, each cluster unmanned plane during flying ginseng
Number and endurance；
(1b) decision-making unmanned plane determines pending task situation, including task number, task object position and task character；
(1c) decision-making unmanned plane distributes pending according to cluster unmanned plane state and pending task situation to each cluster unmanned plane
Task, and send execute instruction；
(2) execute instruction that each cluster unmanned plane is sent according to decision-making unmanned plane performs task, and passes through heartbeat mechanism and decision-making
Unmanned plane is communicated, and respective flight position, endurance and tasks carrying situation data are sent to decision-making unmanned plane；
(3) decision-making unmanned plane optimizes scheduling to each cluster unmanned plane task：
(3a) decision-making unmanned plane is monitored in real time to cluster unmanned plane state and tasks carrying situation, obtains real time environment situation
Assessment result, and the data and real time environment Situation Assessment result sent according to each cluster unmanned plane received, judge whether
Optimizing and scheduling task is carried out, if so, performing step (3b), otherwise each cluster unmanned plane continues executing with task by former execute instruction；
Wherein, each the cluster unmanned plane state and tasks carrying situation that decision-making unmanned plane monitors in real time, including each cluster unmanned plane during flying
Position and endurance, and current task number, task object position and task character；
(3b) decision-making unmanned plane formulates different decision-making parties according to the current each cluster unmanned plane state and task situation that monitor
Case：
When decision-making monitoring unmanned is to having cluster unmanned plane operation exception or cluster unmanned plane endurance can not support that its is complete
During into task, the cluster unmanned plane number that can continue executing with task is redefined, and counts and abnormal cluster unmanned plane occurs
Can not performing for task, it is determined that the cluster unmanned plane of abnormal unmanned plane execution task can be replaced；
When decision-making monitoring unmanned is to during task number increase, determining that it is newly appointed that emerging task object position and having the ability is completed
The cluster unmanned plane of business；
When decision-making monitoring unmanned to task number is reduced, it is determined that perform the cluster unmanned plane of the task, to the cluster nobody
Machine sends pause instruction, and the pause of cluster unmanned plane performs the task and waits new assignment instructions to be received；
(3c) decision-making unmanned plane distributes to redefining for task and its corresponding flight path according to different decision schemes
Each cluster unmanned plane；
(4) each cluster unmanned plane performs redefining for task, and keep forming into columns according to respective flight path；
(5) each cluster unmanned plane task performance of decision-making monitoring unmanned, when whole tasks are completed, instruction of making a return voyage is sent,
Unmanned aerial vehicle group drops to designated area.
2. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, its feature exist
In the execute instruction that each cluster unmanned plane described in step (2) is sent according to decision-making unmanned plane performs task, and passes through heartbeat
Mechanism is communicated with decision-making unmanned plane, realizes that step is：
(2a) each cluster unmanned plane sends a packet to decision-making unmanned plane at regular intervals and waits decision-making unmanned plane
Returned data, ID, current flight position, endurance and the task that the data in the packet of transmission include cluster unmanned plane are complete
Into situation；
The packet that (2b) decision-making unmanned plane is sent to each cluster unmanned plane received parses, and obtains each cluster unmanned plane
The data of transmission simultaneously reply a corresponding packet to each cluster unmanned plane, the data of the packet of reply include for cluster without
The task of man-machine distribution, the flight path and environmental situation information of planning；
(2c) each cluster unmanned plane receives the packet that decision-making unmanned plane is replied, and completes heartbeat communication.
3. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, its feature exist
In, each cluster unmanned plane during flying parameter described in step (1a), including the signal quality of each cluster unmanned plane transport module, appoint
Reaction speed, unmanned plane during flying posture and the real-time three-dimensional coordinate position for execution module of being engaged in.
4. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, its feature exist
In the decision-making unmanned plane described in step (3a) is monitored in real time to cluster unmanned plane state and tasks carrying situation, is obtained
Real time environment Situation Assessment result, realize that step is：
(3a1) decision-making unmanned plane arranges respective flight position, endurance and the tasks carrying feelings that each cluster unmanned plane is sent
Condition data, and colliding data and invalid data therein are cleaned, obtain valid data；
(3a2) decision-making unmanned plane forms tracking view according to obtained valid data, and using the tracking view formed to each collection
Group's unmanned plane effective coverage range, intervisibility and mobility are assessed, and obtain real-time task environmental situation information；
(3a3) decision-making unmanned plane is according to real-time task environmental situation information, to environment potential threat and task object urgency level
Assessed, obtain real-time task environmental situation assessment result.
5. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, its feature exist
In, the task character described in step (1b), including cruise, target reconnaissance, interference and counter-measure and target rescue.
6. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, its feature exist
In the holding described in step (4) is formed into columns, and refers to holding of in-flight forming into columns, or the switching of different formation forms, or keeps forming into columns
Control, which is formed into columns, under form permanence condition expands, shrinks and turns to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711102120.2A CN107728643B (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711102120.2A CN107728643B (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107728643A true CN107728643A (en) | 2018-02-23 |
| CN107728643B CN107728643B (en) | 2019-10-25 |
Family
ID=61214316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711102120.2A Active CN107728643B (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107728643B (en) |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN108427436A (en) * | 2018-04-28 | 2018-08-21 | 广州亿航智能技术有限公司 | Winged prosecutor method, master control unmanned plane and the computer storage media of unmanned plane cluster |
| CN108459616A (en) * | 2018-03-07 | 2018-08-28 | 西安电子科技大学 | Unmanned aerial vehicle group collaboration covering Route planner based on artificial bee colony algorithm |
| CN108490975A (en) * | 2018-04-28 | 2018-09-04 | 广州亿航智能技术有限公司 | A kind of dispatching method and computer storage media of unmanned plane cluster |
| CN108490976A (en) * | 2018-04-28 | 2018-09-04 | 广州亿航智能技术有限公司 | A kind of scheduling system of unmanned plane cluster |
| CN108594854A (en) * | 2018-04-28 | 2018-09-28 | 广州亿航智能技术有限公司 | A kind of unmanned plane cluster and its flying method |
| CN108596500A (en) * | 2018-04-28 | 2018-09-28 | 广州亿航智能技术有限公司 | Dispatch method, central control system and the computer storage media of unmanned plane cluster |
| CN108683445A (en) * | 2018-03-14 | 2018-10-19 | 西安电子科技大学 | A kind of aircraft formation layering networking management method and system |
| CN108764652A (en) * | 2018-04-28 | 2018-11-06 | 广州亿航智能技术有限公司 | Adapt to the unmanned plane cluster organization method and system of cluster destination task |
| CN108759837A (en) * | 2018-05-22 | 2018-11-06 | 北京和协导航科技有限公司 | Unmanned plane multi computer communication combat system and method |
| CN108803658A (en) * | 2018-06-19 | 2018-11-13 | 北京天龙智控科技有限公司 | Cruising inspection system based on unmanned plane |
| CN108830448A (en) * | 2018-04-28 | 2018-11-16 | 广州亿航智能技术有限公司 | Unmanned plane cluster task decomposes sending method and system |
| CN108820247A (en) * | 2018-04-28 | 2018-11-16 | 广州亿航智能技术有限公司 | Adapt to the unmanned plane cluster monitoring method and system of cluster destination task |
| CN108924473A (en) * | 2018-04-28 | 2018-11-30 | 广州亿航智能技术有限公司 | Reservation based on unmanned plane cruise mode is taken photo by plane method and system |
| CN108983818A (en) * | 2018-08-10 | 2018-12-11 | 电子科技大学 | Unmanned plane order switching method based on virtual architecture |
| CN109048996A (en) * | 2018-08-07 | 2018-12-21 | 北京云迹科技有限公司 | robot abnormal state processing method and device |
| CN109377012A (en) * | 2018-09-26 | 2019-02-22 | 中国航天员科研训练中心 | A kind of dynamic man-machine function allocation system and unmanned plane |
| CN109582040A (en) * | 2019-01-25 | 2019-04-05 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster formation and performance vulnerability assessment method and system |
| CN109709980A (en) * | 2018-12-27 | 2019-05-03 | 西安工业大学 | A kind of bee colony countercheck based on isomery unmanned plane |
| CN109740954A (en) * | 2019-01-10 | 2019-05-10 | 北京理工大学 | A kind of quick grouping method of extensive unmanned plane towards disaster relief task |
| CN109901616A (en) * | 2019-03-29 | 2019-06-18 | 北京航空航天大学 | A kind of isomery unmanned aerial vehicle group distributed task scheduling planing method |
| CN110032210A (en) * | 2019-04-10 | 2019-07-19 | 南京邮电大学 | The abnormality eliminating method formed into columns based on the unmanned plane for continuing transmitting style |
| CN110291483A (en) * | 2018-03-14 | 2019-09-27 | 深圳市大疆创新科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method, equipment, unmanned plane, system and storage medium |
| CN110673646A (en) * | 2019-11-06 | 2020-01-10 | 中国人民解放军国防科技大学 | Method and system for controlling switching of unmanned aerial vehicle group |
| CN110703803A (en) * | 2019-11-06 | 2020-01-17 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle group flight control method, unmanned aerial vehicle, system and medium |
| CN110825107A (en) * | 2019-11-06 | 2020-02-21 | 中国人民解放军国防科技大学 | Method, device and storage medium for low-cost safe search of unmanned aerial vehicle group |
| CN110941283A (en) * | 2019-11-20 | 2020-03-31 | 西北工业大学 | Task demand-based heterogeneous unmanned aerial vehicle cluster cooperative optimal configuration method |
| CN111093220A (en) * | 2019-11-14 | 2020-05-01 | 中国人民解放军军事科学院国防科技创新研究院 | Autonomous unmanned cluster dynamic management method and management platform |
| CN111415026A (en) * | 2019-01-08 | 2020-07-14 | 北京京东尚科信息技术有限公司 | Unmanned equipment scheduling device, system and method |
| CN111414005A (en) * | 2020-03-11 | 2020-07-14 | 五邑大学 | Task dispatching decision method and system for unmanned aerial vehicle cluster |
| CN111510192A (en) * | 2020-03-20 | 2020-08-07 | 西安电子科技大学 | Unmanned aerial vehicle multi-dimensional resource management method with high energy efficiency |
| CN111506115A (en) * | 2020-05-27 | 2020-08-07 | 广州机械科学研究院有限公司 | Unmanned aerial vehicle cluster regulation and control method and device |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
| CN112270488A (en) * | 2020-11-09 | 2021-01-26 | 中国电子技术标准化研究院 | Unmanned aerial vehicle cluster task allocation method and device and unmanned aerial vehicle cluster system |
| CN112666980A (en) * | 2020-12-30 | 2021-04-16 | 青海大学 | Unmanned aerial vehicle cluster cooperation system, cooperation method and unmanned aerial vehicle cluster |
| CN112698637A (en) * | 2021-01-13 | 2021-04-23 | 广东轻工职业技术学院 | Cooperative resource scheduling algorithm for multi-task bee colony |
| CN112863250A (en) * | 2020-08-13 | 2021-05-28 | 上海交通大学 | Multi-platform avionic control system and method |
| CN112926890A (en) * | 2021-03-31 | 2021-06-08 | 中国人民解放军国防科技大学 | Command control device and control method |
| CN113156803A (en) * | 2021-02-03 | 2021-07-23 | 南京华鹞信息科技有限公司 | Task-oriented unmanned aerial vehicle cluster resource management and fault-tolerant control method |
| CN113220034A (en) * | 2021-05-18 | 2021-08-06 | 北京航空航天大学 | Unmanned aerial vehicle cluster reconstruction system combining autonomous reconstruction and manual intervention reconstruction |
| CN114200963A (en) * | 2022-02-17 | 2022-03-18 | 佛山科学技术学院 | Unmanned aerial vehicle autonomous mission planning method and device in dynamic environment and storage medium |
| CN114449455A (en) * | 2021-12-16 | 2022-05-06 | 珠海云洲智能科技股份有限公司 | Integrated control system of wide area cluster task and wide area cluster system |
| CN114553302A (en) * | 2022-02-25 | 2022-05-27 | 中国电子科技集团公司第三十八研究所 | Real-time cooperative communication method for unmanned aerial vehicle swarm |
| CN114662999A (en) * | 2022-05-24 | 2022-06-24 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle cluster transfer processing method and system and cloud platform |
| CN114690804A (en) * | 2022-05-30 | 2022-07-01 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle cluster landing method and system based on smart lamp pole parking apron |
| CN117176240A (en) * | 2023-11-02 | 2023-12-05 | 西安天成益邦电子科技有限公司 | Remote sensing investigation system matched with multiple unmanned aerial vehicles |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102521044A (en) * | 2011-12-30 | 2012-06-27 | 北京拓明科技有限公司 | Distributed task scheduling method and system based on messaging middleware |
| CN104572286A (en) * | 2015-01-30 | 2015-04-29 | 湖南蚁坊软件有限公司 | Task scheduling method based on distributed memory clusters |
| CN104615143A (en) * | 2015-01-23 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle scheduling method |
| US9466219B1 (en) * | 2014-06-27 | 2016-10-11 | Rockwell Collins, Inc. | Unmanned vehicle mission planning, coordination and collaboration |
| CN106126323A (en) * | 2016-06-17 | 2016-11-16 | 四川新环佳科技发展有限公司 | Real-time task scheduling method based on cloud platform |
| US20170083979A1 (en) * | 2014-09-03 | 2017-03-23 | Infatics, Inc. (DBA DroneDeploy) | System and methods for hosting missions with unmanned aerial vehicles |
| US9689696B1 (en) * | 2015-09-22 | 2017-06-27 | X Development Llc | Determining handoff checkpoints for low-resolution robot planning |
| US20170277203A1 (en) * | 2016-03-28 | 2017-09-28 | General Electric Company | Method and system for mission planning via formal verification and supervisory controller synthesis |
-
2017
- 2017-11-10 CN CN201711102120.2A patent/CN107728643B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102521044A (en) * | 2011-12-30 | 2012-06-27 | 北京拓明科技有限公司 | Distributed task scheduling method and system based on messaging middleware |
| US9466219B1 (en) * | 2014-06-27 | 2016-10-11 | Rockwell Collins, Inc. | Unmanned vehicle mission planning, coordination and collaboration |
| US20170083979A1 (en) * | 2014-09-03 | 2017-03-23 | Infatics, Inc. (DBA DroneDeploy) | System and methods for hosting missions with unmanned aerial vehicles |
| CN104615143A (en) * | 2015-01-23 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle scheduling method |
| CN104572286A (en) * | 2015-01-30 | 2015-04-29 | 湖南蚁坊软件有限公司 | Task scheduling method based on distributed memory clusters |
| US9689696B1 (en) * | 2015-09-22 | 2017-06-27 | X Development Llc | Determining handoff checkpoints for low-resolution robot planning |
| US20170277203A1 (en) * | 2016-03-28 | 2017-09-28 | General Electric Company | Method and system for mission planning via formal verification and supervisory controller synthesis |
| CN106126323A (en) * | 2016-06-17 | 2016-11-16 | 四川新环佳科技发展有限公司 | Real-time task scheduling method based on cloud platform |
Non-Patent Citations (2)
| Title |
|---|
| 闫钧华等: "Multi Agent在分布式测控系统动态任务调度中的实现", 《计算机工程与应用》 * |
| 龙涛等: "战场环境中多无人机动态任务调度", 《计算机工程》 * |
Cited By (63)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459616B (en) * | 2018-03-07 | 2021-08-03 | 西安电子科技大学 | Unmanned aerial vehicle group collaborative coverage route planning method based on artificial bee colony algorithm |
| CN108459616A (en) * | 2018-03-07 | 2018-08-28 | 西安电子科技大学 | Unmanned aerial vehicle group collaboration covering Route planner based on artificial bee colony algorithm |
| CN108683445A (en) * | 2018-03-14 | 2018-10-19 | 西安电子科技大学 | A kind of aircraft formation layering networking management method and system |
| CN108398958B (en) * | 2018-03-14 | 2021-04-23 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle formation path matching method and device and storage medium |
| CN110291483A (en) * | 2018-03-14 | 2019-09-27 | 深圳市大疆创新科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method, equipment, unmanned plane, system and storage medium |
| CN108683445B (en) * | 2018-03-14 | 2020-12-18 | 西安电子科技大学 | Aircraft formation layered network access management method and system |
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN108764652A (en) * | 2018-04-28 | 2018-11-06 | 广州亿航智能技术有限公司 | Adapt to the unmanned plane cluster organization method and system of cluster destination task |
| CN108596500A (en) * | 2018-04-28 | 2018-09-28 | 广州亿航智能技术有限公司 | Dispatch method, central control system and the computer storage media of unmanned plane cluster |
| CN108594854A (en) * | 2018-04-28 | 2018-09-28 | 广州亿航智能技术有限公司 | A kind of unmanned plane cluster and its flying method |
| CN108830448A (en) * | 2018-04-28 | 2018-11-16 | 广州亿航智能技术有限公司 | Unmanned plane cluster task decomposes sending method and system |
| CN108820247A (en) * | 2018-04-28 | 2018-11-16 | 广州亿航智能技术有限公司 | Adapt to the unmanned plane cluster monitoring method and system of cluster destination task |
| CN108924473A (en) * | 2018-04-28 | 2018-11-30 | 广州亿航智能技术有限公司 | Reservation based on unmanned plane cruise mode is taken photo by plane method and system |
| CN108490976A (en) * | 2018-04-28 | 2018-09-04 | 广州亿航智能技术有限公司 | A kind of scheduling system of unmanned plane cluster |
| CN108490975A (en) * | 2018-04-28 | 2018-09-04 | 广州亿航智能技术有限公司 | A kind of dispatching method and computer storage media of unmanned plane cluster |
| CN108427436A (en) * | 2018-04-28 | 2018-08-21 | 广州亿航智能技术有限公司 | Winged prosecutor method, master control unmanned plane and the computer storage media of unmanned plane cluster |
| CN108820247B (en) * | 2018-04-28 | 2022-12-02 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle cluster monitoring method and system suitable for cluster waypoint task |
| CN108759837A (en) * | 2018-05-22 | 2018-11-06 | 北京和协导航科技有限公司 | Unmanned plane multi computer communication combat system and method |
| CN108803658A (en) * | 2018-06-19 | 2018-11-13 | 北京天龙智控科技有限公司 | Cruising inspection system based on unmanned plane |
| CN109048996B (en) * | 2018-08-07 | 2022-03-04 | 北京云迹科技有限公司 | Robot abnormal state processing method and device |
| CN109048996A (en) * | 2018-08-07 | 2018-12-21 | 北京云迹科技有限公司 | robot abnormal state processing method and device |
| CN108983818A (en) * | 2018-08-10 | 2018-12-11 | 电子科技大学 | Unmanned plane order switching method based on virtual architecture |
| CN109377012A (en) * | 2018-09-26 | 2019-02-22 | 中国航天员科研训练中心 | A kind of dynamic man-machine function allocation system and unmanned plane |
| CN109709980B (en) * | 2018-12-27 | 2022-01-14 | 西安工业大学 | Heterogeneous unmanned aerial vehicle-based swarm countermeasure method |
| CN109709980A (en) * | 2018-12-27 | 2019-05-03 | 西安工业大学 | A kind of bee colony countercheck based on isomery unmanned plane |
| CN111415026A (en) * | 2019-01-08 | 2020-07-14 | 北京京东尚科信息技术有限公司 | Unmanned equipment scheduling device, system and method |
| CN109740954A (en) * | 2019-01-10 | 2019-05-10 | 北京理工大学 | A kind of quick grouping method of extensive unmanned plane towards disaster relief task |
| CN109582040A (en) * | 2019-01-25 | 2019-04-05 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster formation and performance vulnerability assessment method and system |
| CN109582040B (en) * | 2019-01-25 | 2021-08-06 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster formation and performance vulnerability assessment method and system |
| CN109901616A (en) * | 2019-03-29 | 2019-06-18 | 北京航空航天大学 | A kind of isomery unmanned aerial vehicle group distributed task scheduling planing method |
| CN110032210A (en) * | 2019-04-10 | 2019-07-19 | 南京邮电大学 | The abnormality eliminating method formed into columns based on the unmanned plane for continuing transmitting style |
| CN110032210B (en) * | 2019-04-10 | 2022-03-11 | 南京邮电大学 | Continuation transfer style-based unmanned aerial vehicle formation exception handling method |
| CN110673646A (en) * | 2019-11-06 | 2020-01-10 | 中国人民解放军国防科技大学 | Method and system for controlling switching of unmanned aerial vehicle group |
| CN110825107A (en) * | 2019-11-06 | 2020-02-21 | 中国人民解放军国防科技大学 | Method, device and storage medium for low-cost safe search of unmanned aerial vehicle group |
| CN110703803A (en) * | 2019-11-06 | 2020-01-17 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle group flight control method, unmanned aerial vehicle, system and medium |
| CN110825107B (en) * | 2019-11-06 | 2023-05-30 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle group low-cost safe searching method, device and storage medium |
| CN111093220A (en) * | 2019-11-14 | 2020-05-01 | 中国人民解放军军事科学院国防科技创新研究院 | Autonomous unmanned cluster dynamic management method and management platform |
| CN110941283A (en) * | 2019-11-20 | 2020-03-31 | 西北工业大学 | Task demand-based heterogeneous unmanned aerial vehicle cluster cooperative optimal configuration method |
| CN110941283B (en) * | 2019-11-20 | 2022-07-05 | 西北工业大学 | Task demand-based heterogeneous unmanned aerial vehicle cluster cooperative optimal configuration method |
| CN111414005A (en) * | 2020-03-11 | 2020-07-14 | 五邑大学 | Task dispatching decision method and system for unmanned aerial vehicle cluster |
| CN111510192A (en) * | 2020-03-20 | 2020-08-07 | 西安电子科技大学 | Unmanned aerial vehicle multi-dimensional resource management method with high energy efficiency |
| CN111506115A (en) * | 2020-05-27 | 2020-08-07 | 广州机械科学研究院有限公司 | Unmanned aerial vehicle cluster regulation and control method and device |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
| CN112863250A (en) * | 2020-08-13 | 2021-05-28 | 上海交通大学 | Multi-platform avionic control system and method |
| CN112270488B (en) * | 2020-11-09 | 2023-12-12 | 中国电子技术标准化研究院 | Unmanned aerial vehicle cluster task allocation method and device and unmanned aerial vehicle cluster system |
| CN112270488A (en) * | 2020-11-09 | 2021-01-26 | 中国电子技术标准化研究院 | Unmanned aerial vehicle cluster task allocation method and device and unmanned aerial vehicle cluster system |
| CN112666980A (en) * | 2020-12-30 | 2021-04-16 | 青海大学 | Unmanned aerial vehicle cluster cooperation system, cooperation method and unmanned aerial vehicle cluster |
| CN112698637A (en) * | 2021-01-13 | 2021-04-23 | 广东轻工职业技术学院 | Cooperative resource scheduling algorithm for multi-task bee colony |
| CN113156803A (en) * | 2021-02-03 | 2021-07-23 | 南京华鹞信息科技有限公司 | Task-oriented unmanned aerial vehicle cluster resource management and fault-tolerant control method |
| CN112926890A (en) * | 2021-03-31 | 2021-06-08 | 中国人民解放军国防科技大学 | Command control device and control method |
| CN112926890B (en) * | 2021-03-31 | 2023-07-14 | 中国人民解放军国防科技大学 | Command control device and control method |
| CN113220034A (en) * | 2021-05-18 | 2021-08-06 | 北京航空航天大学 | Unmanned aerial vehicle cluster reconstruction system combining autonomous reconstruction and manual intervention reconstruction |
| CN113220034B (en) * | 2021-05-18 | 2022-04-29 | 北京航空航天大学 | Unmanned aerial vehicle cluster reconstruction system combining autonomous reconstruction and manual intervention reconstruction |
| CN114449455A (en) * | 2021-12-16 | 2022-05-06 | 珠海云洲智能科技股份有限公司 | Integrated control system of wide area cluster task and wide area cluster system |
| CN114200963B (en) * | 2022-02-17 | 2022-05-10 | 佛山科学技术学院 | Unmanned aerial vehicle autonomous mission planning method and device under dynamic environment and storage medium |
| CN114200963A (en) * | 2022-02-17 | 2022-03-18 | 佛山科学技术学院 | Unmanned aerial vehicle autonomous mission planning method and device in dynamic environment and storage medium |
| CN114553302A (en) * | 2022-02-25 | 2022-05-27 | 中国电子科技集团公司第三十八研究所 | Real-time cooperative communication method for unmanned aerial vehicle swarm |
| CN114553302B (en) * | 2022-02-25 | 2023-05-16 | 中国电子科技集团公司第三十八研究所 | Unmanned plane bee colony real-time collaborative communication method |
| CN114662999A (en) * | 2022-05-24 | 2022-06-24 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle cluster transfer processing method and system and cloud platform |
| CN114690804B (en) * | 2022-05-30 | 2022-08-30 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle cluster landing method and system based on smart lamp pole parking apron |
| CN114690804A (en) * | 2022-05-30 | 2022-07-01 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle cluster landing method and system based on smart lamp pole parking apron |
| CN117176240A (en) * | 2023-11-02 | 2023-12-05 | 西安天成益邦电子科技有限公司 | Remote sensing investigation system matched with multiple unmanned aerial vehicles |
| CN117176240B (en) * | 2023-11-02 | 2024-02-27 | 西安天成益邦电子科技有限公司 | Remote sensing investigation system matched with multiple unmanned aerial vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107728643B (en) | 2019-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107728643B (en) | A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment | |
| CN110011223B (en) | Multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission line | |
| McEnroe et al. | A survey on the convergence of edge computing and AI for UAVs: Opportunities and challenges | |
| CN104503456B (en) | Unmanned aerial vehicle (UAV) control apparatus and method based on 4G communications | |
| Pham et al. | Aerial computing: A new computing paradigm, applications, and challenges | |
| CN110231814A (en) | Layered distributed control system and control method for fixed-wing unmanned aerial vehicle cluster | |
| CN109613931A (en) | Isomery unmanned plane cluster object tracking system and method based on biological social force | |
| CN103256931B (en) | Visual navigation system of unmanned planes | |
| CN102393747A (en) | Collaborative interaction method for unmanned plane cluster and visual navigation system of unmanned plane | |
| CN105676856B (en) | Exchange method, interactive device and the interactive system of unmanned vehicle | |
| CN107289953A (en) | A kind of navigation control method of unmanned aerial vehicle group | |
| WO2014177882A1 (en) | Goal-based planning system | |
| CN108764653A (en) | Unmanned plane cluster information display methods based on geographic model and system | |
| Sheng et al. | Space-air-ground integrated network development and applications in high-speed railways: A survey | |
| CN109558116A (en) | A kind of unrelated modeling method of open unmanned aerial vehicle platform | |
| CN108490976A (en) | A kind of scheduling system of unmanned plane cluster | |
| CN112020001B (en) | Time slot resource allocation method for multi-station multi-machine system of unmanned aerial vehicle | |
| CN106742086A (en) | Quick imaging satellite independently transports control system | |
| CN105487518B (en) | Four axis UAV Flight Control Systems | |
| CN107942743B (en) | A kind of measurement and control system of aircraft and method based on steel tower base station | |
| CN115550860A (en) | Unmanned aerial vehicle networking communication system and method | |
| WO2023043618A1 (en) | Generating a flight plan of a semi-autonomous drone | |
| US11686556B2 (en) | Operational section of armored vehicles communicating with a fleet of drones | |
| Roldán et al. | A proposal of multi-UAV mission coordination and control architecture | |
| CN109841092A (en) | A kind of unmanned aerial vehicle command and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210825 Address after: 710061 room 2104, unit 2, building F4, Chang'an West Road, Zijun, Yanta District, Xi'an City, Shaanxi Province Patentee after: Xi'an Intelligent Technology Co.,Ltd. Address before: 710071 Taibai South Road, Yanta District, Xi'an, Shaanxi Province, No. 2 Patentee before: XIDIAN University |
|
| TR01 | Transfer of patent right |