The invention discloses a multi-unmanned aerial vehicle video transmission method based on prediction and target tracking, which is mainly used for planning tracks and power distribution of unmanned aerial vehicles in a scene in which multiple unmanned aerial vehicles track moving targets and transmit real-time videos. The method comprises the following steps: firstly, because the mutual dependency relationship between the unmanned aerial vehicles can be modeled into a unique graph structure, the relationship between the unmanned aerial vehicles and the surrounding environment is represented by adopting a graph-based method; secondly, combining the graph convolutional network with a near-end optimization algorithm, predicting the moving line of the target, planning the trajectory of the unmanned aerial vehicle, and distributing the power of the unmanned aerial vehicle; in order to further improve the accuracy of the prediction strategy, generalized advantage estimation and a double pruning optimization technology are integrated into a near-end strategy optimization algorithm. In order to achieve high-level training efficiency, a distributed structure is adopted to train a pair of actor-commentator networks for each unmanned aerial vehicle agent. Through the method, the transmission rate can be maximized under the condition that the delay requirement is met.
本发明公开了一种基于预测和目标跟踪的多无人机视频传输方法,主要针对多无人机跟踪移动目标并传输实时视频的场景,用来规划无人机的轨迹和功率分配。首先,由于无人机之间的相互依赖关系可以被建模为一个独特的图结构,本发明采用基于图的方法来表示无人机与周围环境的关系。其次,将图卷积网络和近端优化算法结合,预测目标的动线并规划无人机的轨迹和分配无人机的功率。为了进一步提高预测策略的准确性,将广义优势估计和双剪枝优化技术集成到近端策略优化算法中。为了达到高水平的训练效率,本发明采用分布式结构为每个无人机智能体训练一对演员‑评论家网络。通过此方法,在满足时延的要求下,可以最大化传输速率。
Multi-unmanned aerial vehicle video transmission method based on prediction and target tracking
一种基于预测和目标跟踪的多无人机视频传输方法
2023-11-28
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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