Heterogeneous multi-UAV cooperative task assignment and path optimization method

Abstract

The invention provides a heterogeneous multi-unmanned aerial vehicle cooperative task allocation and path optimization method, and specifically relates to the technical field of unmanned aerial vehicles. Relevant information and the relevant information of the target that needs to be obtained by the drone, then calculate the Euclidean distance from the drone's site to all the targets and the Euclidean distance between all the targets, and then establish the variable income of the heterogeneous drone The HU‑TAP‑VP model of the task assignment problem obtains the initial task assignment scheme set for performing cooperative tasks, and finally uses the hybrid genetic simulated annealing algorithm HGSA with the introduction of the adaptive switching mechanism to optimize, so as to obtain the safe flight path of each UAV . Based on the method provided by the embodiment of the present invention, a high-quality task allocation scheme can be quickly obtained under complex and dangerous scenarios, and the access path of each UAV to the target can be optimized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a heterogeneous multi-unmanned aerial vehicle cooperative task allocation and path optimization method. Background technique [0002] At present, UAVs have been widely used in complex and dangerous scenarios such as military target reconnaissance and post-earthquake reconnaissance. Due to the high time sensitivity of these tasks and certain requirements for the quality of task completion, a single UAV It is often impossible to complete the above tasks, and multiple heterogeneous UAVs are required to complete the above tasks. UAVs can be equipped with different types of sensors to obtain images of targets, such as: taking pictures of military targets or buildings in earthquake-stricken areas through visible light radar and synthetic aperture radar. Synthesizing the images obtained by different types of sensors can greatly improve the credibility of the informatio...

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Problems solved by technology

Therefore, it is impossible to optimize the path of each UAV, so that the useful information obtained by all UAVs cannot be maximized

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