UAV (Unmanned Aerial Vehicle) trajectory planning in emergency response mapping has the characteristics of complex spatial and temporal environmental constraints and diverse trajectory planning schemes, and the existing trajectory planning is mainly based on empirical judgment with low program reliability, lacking comprehensive consideration of the occurrence of complex and variable special situations in the emergency process, resulting in low accuracy and reliability of mapping results. In order to realize the rapid response of post-disaster emergency response mapping, multi-UAV collaborative mapping scheme and optimization objectives are constructed, taking into account the constraints of emergency response mapping task demand, priority, geographic environment of task area and UAV mapping resource capacity, etc. The initial perception of the environment is completed through the pre-trajectory planning of multi-UAV, and multi-UAV collaborative trajectory planning based on PSO (particle swarm optimization) is proposed based on the perception information, so as to the problem of repeated data collection and collision between UAV in the process of multi-UAV flight is effectively avoided.
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