Heterogeneous multi-UAV (Unmanned Aerial Vehicle) cooperative scouting and striking task planning method

Abstract

The invention discloses a heterogeneous multi-UAV (Unmanned Aerial Vehicle) cooperative scouting and striking task planning method, and belongs to the technical field of UAV task planning. The method comprises the steps of firstly establishing a task planning model which takes shortest UAV task performing flight and maximum target value as an objective function; and then solving the task planning model by using a heterogeneous multi-population ant colony algorithm so as to acquire an optimal task allocation plan which conforms a task completion time constraint, a UAV task type and capacity constraint and a condition that each task is only performed for one time. The method disclosed by the invention effectively solves a multi-UAV multi-task allocation problem under complex constraint conditions, can satisfy a task sequence proposed in order to improving the combat efficiency while meeting a sequential relation of different types of tasks, and has good flexibility in use.

Description

technical field [0001] The invention discloses a planning method for cooperative reconnaissance and strike missions of heterogeneous multi-UAVs, and belongs to the technical field of UAV mission planning. Background technique [0002] Since Unmanned Aerial Vehicles (UAV) was successfully used in the Gulf War in 1991, more than 30 countries and regions have invested in the research and production of UAVs. After decades of development, UAVs have become It has a series of advantages such as flexible maneuverability, strong adaptability, no casualties, and simple air support, and is widely used in military and civilian fields. However, there are still corresponding problems for a single UAV: ​​when performing a mission, if the UAV fails midway, the mission must be interrupted and returned for maintenance, which may delay the fighter and destroy the entire combat plan in a war; Restrictions on combat range, killing radius, destroying capability, and attack precision will affect ...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the background technology and provide a planning method for heterogeneous multi-UAV cooperative reconnaissance missions. The value of the target is obtained through reconnaissance missions and passed to the unmanned aerial vehicles that will perform strike missions. The UAV of the strike task selects the strike sequence of the target according to the track cost and the target value, which realizes the reasonable allocation of the reconnaissance and strike tasks of multiple heterogeneous UAVs to multiple targets with different values ​​and makes the cost index Minimal, solves the problem of multi-UAV multi-task assignment under complex constraints

Images