Research On The Algorithm Of Task Assignment And Path Planning For Multi-UAV

Multiply unmanned aerial vehicle (UAV) cooperation is an important application to complete complex tasks by using the UAVs’ innate advantages. Task assignment, minimizing the cost of each sub task assignment, is the vital problem in the multi-collaboration target. Path planning is to seek the optimal or the sub optimal path from the beginning to the end in the obstacle environment. This paper focuses on task assignment and path planning of multi-UAV. Two improved algorithms are proposed to improve the multiply UAVs’cooperative ability and efficiency.In the task assignment problem, the mature Hungarian algorithm and the auction algorithm are analyzed. The proposed algorithm is based on the combination of the two algorithms. Through the square and non-square matrix simulation calculation analysis, the results show that the proposed algorithm has meet the requirement of optimal distribution and have a superior performance in time and adapt ability.Artificial potential field is an important algorithm of UAV’s path planning. There are still some issues exist in the traditional artificial potential field, such as the poor adaptability to the complex environment, easily getting into local standstill and the lake of path smoothness. The evolutionary artificial potential field method is proposed to solve the UAV’s path planning in this paper. There are three major improvements in the proposed algorithm. Firstly, the optimum feasible solution domain is obtained by analyzing the threats’ connectivity of the geometric topology. Secondly, to improve the local standstill of the traditional artificial potential field, a pre-planning based on the threats’ global distribution information is studied in detail. Thirdly, in order to obtain a sufficient smooth flight path, the gravitational function and repulsion function are reconstructed. According to the improved functions, the sufficient smooth flight path is obtained after several iterations and curvature checking.The simulation of the multi-UAV task assignment and path planning is studied in the paper. The simulation results show that the proposed task assignment algorithm and path planning algorithm are not only improve the efficiency of the overall planning, but also has a strong search ability and adaptability in multi-UAV cooperative system.