Task Allocation Method for Multi-UAV Cooperative Reconnaissance in Complex Environment

doi:10.16182/j.issn1004731x.joss.21-0552

Abstract

Abstract:

The existing cooperative planning methods of multiple UAVs often carry out path planning and task allocation separatly, which causes the cooperative scheme not being the best in a complex environment. The cost matrix of multi-UAV cooperative reconnaissance on heterogeneous targets is established. Aiming at the various obstacle constraints and the characteristics of UAV motion and track in complex environment, an improved PSO-AFSA is used to solve the single UAV track planning model. Hungarian algorithm is used to complete the cooperative allocation of reconnaissance tasks of UAVs. The simulation results show that the algorithm can make the flying range of single UAV shorter and the flight path smoother, and can realize the tight coupling with the task collaborative allocation, so and the total cost of the total flight range of UAV cluster is the lowest and the rationality of task allocation is improved.

Key words: particle swarm optimization, multi-UAV coordination, heterogeneous targets, trajectory planning, task assignment

CLC Number:

TP391.9

Fuzhen Zhang, Yaoqin Zhu. Task Allocation Method for Multi-UAV Cooperative Reconnaissance in Complex Environment[J]. Journal of System Simulation, 2022, 34(10): 2293-2302.

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无人机编号	坐标/km	速度/(m/s)	高度/m	侦察角/(°)
UAV1	(10, 40)	40	20	90
UAV2	(20, 20)	40	20	90
UAV3	(40, 10)	40	20	90
UAV4	(70, 20)	40	20	90

目标编号	目标坐标/km	目标类型
T1	(55, 175)、（65, 175）、（65, 185）、（55, 185）	点型
T2	(155, 125)、（165, 125）、（165, 135）、（155, 135）	点型
T3	(130, 170)、(190, 170)、(190, 180)、(130, 180)	线型
T4	(160, 80)、(200, 80)、(200, 110)、(160, 110)	面型

区域编号	区域中心坐标/km	区域半径/km	区域类型
R1	端点坐标：(20, 110)、(50, 110)、(50, 150)、(40, 150)、(20, 140)	无	禁飞区
R2	(70, 90)	20	天气威胁
R3	(50, 105)	20	天气威胁
R4	(130, 100)	20	雷达威胁
R5	(120, 40)	30	高炮威胁
R6	(130, 70)	20	高炮威胁
R7	(90, 150)	15	导弹威胁
R8	(50, 40)	10	山体威胁

目标	经典PSO-AFSA	改进PSO-AFSA
T1	319.85	321.04
T2	364.28	364.99
T3	495.81	494.95
T4	515.26	515.68

无人机	未预规划下的任务分配				预规划下的任务分配
	经典PSO-AFSA		改进PSO-AFSA		经典PSO-AFSA		改进PSO-AFSA
	目标	任务代价	目标	任务代价	目标	任务代价	目标	任务代价
总代价		1 736.60		1 617.51		1 603.63		1 570.69
UAV1	T2	364.27	T2	364.99	T1	319.85	T1	321.04
UAV2	T1	425.64	T1	365.62	T4	486.64	T3	505.58
UAV3	T4	503.58	T4	443.79	T3	489.43	T2	357.41
UAV4	T3	443.11	T3	443.11	T2	307.71	T4	386.66