The invention discloses a multi-unmanned aerial vehicle cooperative task
allocation method with a self-evolution search capability, belongs to the technical field of
emergency rescue, and aims to solve the problems that the multi-unmanned aerial vehicle cooperative task
allocation method is easy to fall into
local optimum and is weak in constraint
processing capability. Comprising the steps that task modeling and parameter initialization are carried out, and an
emergency rescue task is converted into a computable
mathematical model; decoding the particles and executing
deadlock detection and repair, and converting continuous solution vectors in
particle swarm optimization into
executable task allocation schemes meeting all rescue scene constraints; calculating a fitness value and a self-adaptive
inertia weight of each particle to realize
personalized search for different particles; convergence stagnation is monitored, intelligent
variable neighborhood search and disturbance are triggered, and double-
adaptive capacity of depth and neighborhood selection is achieved; updating the particles by using a self-adaptive
inertia weight; and repeating the steps until the termination condition is met. According to the method, the solving quality and stability of a multi-unmanned aerial vehicle cooperative task allocation scheme under complex constraints can be remarkably improved.