Distributed online adaptive task planning method for unmanned aerial vehicle group

Abstract

The invention relates to the field of unmanned aerial vehicle group task planning, and discloses a distributed online adaptive task planning method for an unmanned aerial vehicle group. In order to obtain a global optimal task planning effect and improve the efficiency of searching and strike task execution of the whole unmanned aerial vehicle group, state transition rules are optionally optimized, two task modes of reconnaissance search and attack of unmanned aerial vehicles are designed, and the unmanned aerial vehicles adaptively select the state transition rules according to task modes, so that the unmanned aerial vehicles can quickly approach and strike a target, and the existence time of the target is shortened. When a target attack task is allocated, the consumption attack condition of the unmanned aerial vehicles to the target in the local range is considered in advance, only part of the unmanned aerial vehicles are summoned to attack the target, and the other unmanned aerial vehicles still can execute a search task, so that the task execution efficiency of the whole unmanned aerial vehicle group is improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle swarm task planning, in particular to a distributed online self-adaptive task planning method for unmanned aerial vehicle swarms. Background technique [0002] UAVs originated in the military field. Compared with manned aircraft, UAVs have the advantages of reusability, recyclability, no casualties, strong continuous working ability, and low life cycle cost. Due to the increasingly complex combat environment and the limited ability of a single UAV to perform tasks, multi-UAV cluster cooperative operations will become an important development trend of UAV operations in the future, in order to achieve complementary capabilities between UAVs, thereby Improve the performance of the entire system. An efficient and reasonable mission planning method is the premise to give full play to the advantages of multi-UAV cluster cooperative operations and realize the effective utilization of resources. ...

AI Technical Summary

Problems solved by technology

However, in the target gravitational formula containing the target gravitational field in the artificial potential field, only the position of the UAV and the target is considered, and it does not take into account the amount of ammunition carried by the UAV and its ability to damage the target.

Therefore, the globally optimal task planning effect cannot be achieved.

Images