End-Cloud Collaboration Navigation Planning Method for Unmanned Aerial Vehicles Used in Small Areas

Unmanned aerial vehicle (UAV) collaboration has become the main means of indoor and outdoor regional search, railway patrol, other tasks, navigation planning is one key, albeit difficult, technologies. The purpose UAV to plan reasonable trajectories for UAVs avoid obstacles reach task area. Essentially, it a complex optimization problem that requires use algorithms search path-point solutions meet requirements under guide objective functions constraints. At present, there are autonomous modes relying on airborne sensors control ground stations (GCSs). However, due limitation processor computing power, background command communication delay, method takes into account accuracy timeliness needed. First, architecture end-cloud was designed. Then, cloud algorithm designed based improved particle swarm (PSO). Next, terminals multi-objective hybrid intelligent algorithm. Finally, computer simulation actual indoor-environment flight test small rotor were conducted. results showed proposed correct feasible, can improve effectiveness efficiency UAVs.