Research On Mission Planning Technology Of Multiple UAVs' Cooperation Based On Optimization Theory

Unmanned aerial vehicle(UAV)mission planning is the optimal path planning for unmanned aerial vehicles under certain constraints,and the configuration of the task load and the specific planning of the control link.In the modern complex battlefield environment,the tasks of UAVs are becoming more and more diversified,and there are always more than one operational targets.However,a single UAV is often limited in capability,and the damage rate is high.Therefore,it is an inevitable trend to use multiple UAVs for multiple targets.Mission planning of multiple UAVs' cooperation needs to consider additional collaborative constraints between multiple UAVs,establish the corresponding relationship between the UAVs and the targets,and plan paths from the point of departure to the target for each UAV,and realize the optimization of collaborative paths.Mission planning of multiple UAVs' cooperation is to establish the optimization model under the condition of multiple constraints,and the optimal solution of the objective function is obtained by the optimization algorithm.Multiple targets assignment and cooperative path planning of multiple UAVs are the two main aspects of UAV mission planning.In addition,the three dimensional path obtained directly by the path planning algorithm can hardly meet the requirements of UAV's maneuverability,which has shown the significance of path optimization.This paper focus on the problem of three dimensional cooperative mission planning of multiple UAVs,including three aspects: multiple targets assignment of multiple UAVs,three dimensional cooperative path planning of multiple UAVs,and three dimensional path optimization.Following are the main work:1.A multiple targets assignment of multiple UAVs optimization model is established,and an improved genetic algorithm is proposed to solve the model.Aiming at the problem that the consideration of factors when constructing the objective function is too simple during the modeling of multiple targets assignment of multiple UAVs,the flight distance,the flight time and the order of targets execution are considered as constraints,the objective function is constructed according to the cost of flight path length,the cost of time,and the cost of threats in the battlefield environment.Considering the complexity of the assignment between multiple UAVs and multiple targets,an improved genetic algorithm is proposed to solve the targets assignment problem.The performance of the algorithm is improved by the construction of the initial population and the improvement of the renewal strategy as well as the introduction of the penalty function.Finally,the simulation results show the versatility of the proposed model and the advantages of the improved genetic algorithm in efficiency and performance.2.A three dimensional optimization model of the cooperative path planning problem of multiple UAVs' cooperation is established,and a hybrid of genetic and ant colony algorithm is proposed to solve the problem.Considering the constraints such as the flight conditions and the flight time in path planning,the three dimensional optimal model for the path planning problem of multiple UAVs' cooperation is established.A hybrid genetic ant colony algorithm based on genetic algorithm and ant colony algorithm is proposed.The efficiency of the algorithm is improved by the mixture of the algorithms,the removal operation of the loop,and the strategy of reverse selection to state transition.The search scope is expanded which has avoided the local optimum.The simulation experiments compare the performance of hybrid genetic ant colony algorithm with genetic algorithm and ant colony algorithm,which prove the better performance of hybrid genetic ant colony algorithm,and it is suitable for the problem of three dimensional path planning of multiple UAVs' cooperation.3.A path optimization method based on cubic B spline curve is proposed.Aiming at the problem that the initial path can not meet the requirements of the UAV's maneuverability,a path optimization method based on cubic B spline curve is proposed.According to the actual conditions,considering the two constraints of the minimum turning radius and the maximum climbing angle,the cubic B spline curve fitting is used to optimize the flight path.The optimization results are verified by simulation experiments.The results show that this method can optimize the three dimensional path effectively.