Hierarchical target allocation method for multiple unmanned aerial vehicle formations

Abstract

The invention discloses a hierarchical target allocation method for multiple unmanned aerial vehicle formations. The method is characterized by comprising the following steps of 1, clustering a plurality of ground targets to form a plurality of target clusters according to the number of the unmanned aerial vehicle formations; 2, regulating the obtained target clusters to keep the number of the ground targets in each target cluster consistent; 3, allocating the target clusters to the unmanned aerial vehicle formations in a one-to-one correspondence way by using an inter-unmanned aerial vehicle formation target allocation model and an inter-unmanned aerial vehicle formation target allocation algorithm; 4, allocating the ground targets to each unmanned aerial vehicle in the unmanned aerial vehicle formations by using an intra-unmanned aerial vehicle formation target allocation model and an intra-unmanned aerial vehicle formation target allocation algorithm. According to the method, the target allocation efficiency can be improved, and the problem of excessively long calculation time during large-scale target allocation for the multiple unmanned aerial vehicle formations can be effectively solved, so that the requirements of an application scenario such as a battlefield with a higher requirement on real-time performance are met.

Description

technical field [0001] The invention relates to a multi-unmanned aerial vehicle formation layered target allocation method, which belongs to the field of unmanned aerial vehicle control and decision-making. Background technique [0002] UAVs are playing an increasingly important role in military and civilian applications, such as attack, search and rescue, etc. The technology and cost advantages of drones make them suitable for boring, harsh and dangerous tasks. When UAVs perform tasks, they are generally carried out in the form of a fleet: after the UAVs arrive at the target area, the UAVs carry out collaborative mission planning, and then perform their respective tasks. Performing tasks in complex and dynamic environments requires UAVs to have a high degree of autonomous decision-making and coordination capabilities, and target assignment is one of the key technologies. Target allocation specifically refers to assigning targets to UAVs so that UAVs can carry out target s...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the deficiencies in the prior art, provide a multi-UAV formation layered target allocation method, improve the efficiency of target allocation, and can effectively solve the problem of large-scale target allocation for multi-UAV formations. The problem of too long time, so as to meet the needs of application scenarios with high real-time requirements such as battlefields

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