Research And Realization For Multi-UAV Cooperative Mission Planning

The research is come of the engineering requirement of the ground control system of one type of UAVs, and the aim is to via planning the four UAV task with the cooperative mission planning method to accomplish the reconnaissance task, so we can control the four UAV to apply one set of the ground control system on real-time. The article put forward a design method of multi-UAV mission planning which is based on the V diagram and combined with the real requirement of UAV ground control system and the correlation theory and technique. The main content of the article include: 1. Introduced the main function of the mission planning of the ground control system for UAV, and analyzed the principle of mission planning in the ground control system, and put forward the division method of the function of UAV mission planning with the cooperative route planning and the cooperative task assigning, and introduced the working mechanism of the two functions. 2. Adopted the V diagram model and arithmetic as the solution of the UAV cooperative route planning. During the mission planning, we firstly establish the V diagram with the vector method, and compute the length of each route, then compute the optimized route with Dijkstra arithmetic.After this, we verified and analyzed the method of the UAV cooperative route planning with the simulation method and then verified the route planning. The extended V diagram can effectively give expression to the complex task circumstance based on the simulation result, so the extended V diagram can be used to model the multi-UAV cooperative route planning. 3. Put forward the task assigning model based on integer programming which emerged the complex restrict rule in the task assigning for multi-UAV, and accomplished the task assigning arithmetic with the Genetic Algorithm based on integer coding. We focused on the coding designing, target function designing, evolution algorithm designing and restrict rule processing. Finally, we simulated the mission assigning model with two UAV and sixteen UAV. From the simulation result, we can draw the conclusion that the task assigning model based on integer programming can realize he task assigning for multi-UAVs, and reflect the influence of flying distance, mission duration and target value income on mission assigning. Simultaneously, during the simulation experiment, we realized the mission assigning with multi-UAV and multi-target, the assigning result satisfied the restrict rule such as battle resource, amount of UAV, radius of battle, height of battle, etc. 4. After accomplish the above arithmetic on software, we verified the valid of use this arithmetic in the task of fire suppression and cooperative reconnaissance with some scenario. The result revealed that the arithmetic can plan the typical task scenario and the planning result is reasonable and dependable. At the same time, the arithmetic considered the flight time, flight distance, task coverage and target value, and can response to the strict condition such as flight distance, task load, task target and battlefield threat. Now the technique researched in this article is applied in the ground control system of one type of UAV. The flight experiment demonstrated that the arithmetic of cooperative route planning and cooperative task assigning satisfy the engineering requirement, has the huge value of popularization, and it can be researched and perfected in the latter engineering system or the project of demonstration and verification.