Communication relay based unmanned aerial vehicle formation cooperative target distribution method

Abstract

The invention belongs to the field of unmanned aerial vehicle formation, and specifically to a communication relay based unmanned aerial vehicle formation cooperative target distribution method. The communication relay based unmanned aerial vehicle formation cooperative target distribution method comprises the steps of initializing a task chain of each unmanned aerial vehicle; 2, performing preliminary distribution on each unmanned aerial vehicle by utilizing a consistence negotiation auction mechanism based method according to a to-be-distributed target point set; 3, deleting communication relay points of undistributed unmanned aerial vehicles and subsequent to-be-scouted target points from the to-be-distributed target point set; 4, judging the communication connection condition of the unmanned aerial vehicles and a base during the time when the unmanned aerial vehicles perform scouting tasks at the to-be-performed target points, performing a step 6 if the communication connection isall right, and otherwise, performing a step 5; 5, generating communication relay points and adding the generated communication relay points into the to-be-distributed target point set and performing the step 2; and 6, outputting the task chain of each unmanned aerial vehicle if the task chains of all the unmanned aerial vehicles are not updated, and otherwise, performing the step 2. According to the communication relay based unmanned aerial vehicle formation cooperative target distribution method, multi-target scouting tasks can be finished at the minimum cost under the condition of satisfyinga communication radius constraint condition of the unmanned aerial vehicles, and the coverage of formation scouting of multiple targets is increased.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle formations, and in particular relates to a communication relay-based cooperative target assignment method for unmanned aerial vehicle formations. Background technique [0002] Unmanned aerial vehicles (UAVs) have become combat equipment that countries have invested a lot of manpower and financial resources in research and development. As the battlefield environment becomes more complex and mission requirements increase, the need for multi-UAVs to perform reconnaissance missions is becoming increasingly important and common. In recent years, some methods of multi-target cooperative reconnaissance task assignment have been proposed at home and abroad, and some research results have been achieved. However, in practical applications, due to the limited communication range of UAVs, the ability of multiple aircraft to perform target reconnaissance tasks is limited. of. Some modern optimization al...

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Problems solved by technology

[0003] At present, when multiple aircraft cooperate to complete the target reconnaissance mission, because the target distance is far away from the UAV communication radius, if the UAV closest to the target visits this target, the communication link with the base will be disconnected. Not only the reconnaissance target information cannot be transmitted back to the base in real time, but also the remote control information of the UAV will be lost. This is not allowed to be adopted, so in this case, the UAV will conservatively give up the reconnaissance mission

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