Cooperative Task Planning Technology For Multi-UAVs

With the UAV（Unmanned Aerial Vehicle）flight platform and load equipment has been improvedgradually, and the UAV in military and civil field use more and more. In military field, the effect of theUAV becomes more and more important. Facing the increasingly complex battlefield environment,UAV performing military tasks mode are also gradually change and change from single uav missions toMulti-UAVs missions. Based on the UAVs perform joint missions, this thesis mainly studies themission planning and coordination technology.Firstly, in combination of the UAVs perform reconnaissance or strike missions as the background,the UAVs cooperative task planning system model is established including the UAVs cooperative taskplanning control system, cooperative task planning constraints, task allocation model design, and pathplanning model design.Then, aiming at general UAV task allocation conditions, the static task allocation technology isdeveloped based on stratified strategy by considering time constraint and type constraint. Simulationresults show that the algorithms can obtain the good results.Following, the task preliminary planning failure caused by situation change, system failure, andtask change are considered in the performance of tasks. Considering unexpected threats, UAV systemfailure and task add or cancellation, the distributed task allocation technology is proposed based on thecontract net thought. Simulation results show that the algorithms can obtain the good detection results.And then, in order to improve the rapidity and stability of task planning system and the dynamicenvironment adaptability, the application of the ant colony algorithm in the UAV path planning isstudied. Aiming at the basic ant colony algorithm used in path planning cause too many nodes problems,an improved ant colony algorithm is propsoed by increasing a direction guide factor. This developedalgorithm can improve the optimization ability and speed, and reduce the path node number.Considering the heuristic algorithm in discrete space, the search space is not balance and will lead to thepath search failure. To solve the problem of the imbalance of search space and to further improve thepath optimization ability and speed, a new path search algorithm is given based on the coordinatetransformation.Finally, in order to validate the algorithm in actual system, the simulation system is established forthe UAVs cooperative task planning. Using vc++6.0and OpenGL programming, the UAVscooperative task planning simulation platform is presented which can show the UAVs cooperative taskplanning process and test the developed algorithm in virtual environment.