Collaborative spraying technology of multiple-UAVs based on distributed control
To solve the existing problems of difficult trajectory planning and overlapping and missing spra-ying in multi-UAV cooperation,this paper studys a key technology for more optimized trajectory for multi-UAV Collaborative precision spraying operations.A dynamics model of the four-rotor plant protective UAV is established and simulations are carried out under dynamic planning algorithms.The operational and non-operational energy consumption,liquid capacity and path length of the UAVs are used as constraints to opti-mize the trajectory by minimizing the number of turns.The UAV cluster has a distributed structure and a Bayesian coalition game algorithm based on node types is utilized to dynamically adjust this UAV coalition structure for the purpose of trajectory optimization.The method has been successfully applied to a multi-UAV collaborative precision spraying operation and experiments have verified the effectiveness of the method for aerial aircraft optimization.
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