Heterogeneous unmanned aerial vehicle cooperative task assignment method taking time window into account

Abstract

The invention discloses a heterogeneous unmanned aerial vehicle cooperative task assignment method taking a time window into account, and belongs to the field of unmanned aerial vehicle task planning. The method includes the steps: acquiring the type of an unmanned aerial vehicle according to a task and extracting flight performance parameters according to the type of the unmanned aerial vehicle; building a heterogeneous unmanned aerial vehicle cooperative task assignment model taking the time window into account; solving the heterogeneous unmanned aerial vehicle cooperative task assignment model taking the time window into account by a genetic algorithm based on a penalty function to obtain a heterogeneous unmanned aerial vehicle cooperative task assignment scheme meeting the time window and task timing constraint. Corresponding tasks can be completed in the time window by the obtained heterogeneous unmanned aerial vehicle cooperative task assignment scheme, and unmanned aerial vehicle cooperative task completion rate is increased. The heterogeneous unmanned aerial vehicle cooperative task assignment method taking the time window into account can plan the assignment scheme meeting the time window for the heterogeneous unmanned aerial vehicle, and has the advantages of short planning time and capability of meeting time window constraint and task timing constraint.

Description

technical field [0001] The invention relates to a heterogeneous unmanned aerial vehicle cooperative task assignment method, in particular to a heterogeneous unmanned aerial vehicle cooperative task assignment method considering a time window, which belongs to the field of unmanned aerial vehicle task planning. Background technique [0002] In modern warfare, the combat mode and combat environment are undergoing rapid changes, and attacking "time-sensitive targets" (Time Critical Target, TCT) has gradually become the key to warfare. Strike time-sensitive targets need to make decisions and implement strikes from the beginning of the reconnaissance of the target to the time before the target takes effect or re-concealment, and the strike time constraints are relatively strict. Unmanned Aerial Vehicle (UAV), as an important part of weapon system, plays an increasingly important role in modern warfare. If the UAV can realize the "integration of inspection, attack and evaluation"...

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Problems solved by technology

However, in the established model, each UAV can only perform one mission, which has limitations

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