Research On Tasks Assignment And Tracks Planning Of Multi-UAVs Cooperative Operation

With the rapid development of science and technology,multi-UAVs system are playing an increasingly important role in modern warfare.Multi-UAVs coordinated track planning and task assignment are the core components of multi-UAVs system execution tasks,especially when performing tasks on ground moving targets.Therefore,in-depth study of coordinated track planning and task assignment of multi-UAVs system has extremely important application value and theoretical significance.The research content of this article mainly includes the following three aspects.First,the problem of multi-UAVs cooperative task assignment based on particle swarm optimization is studied.A multi-constrained task assignment model in a complex environment was established.In order to solve the model,an improved particle swarm algorithm was proposed.The algorithm added a guiding mechanism and mutation operations in the evolutionary algorithm.Introduce a series of elite particles to guide,increase the diversity of the algorithm and the global search ability.Compared with the original algorithm,the situation of local extremum is effectively avoided.Secondly,the ant colony algorithm is used to study the multi-UAVs cooperative track planning problem.A method of the predicted meeting point is proposed to solve the problem that the moving target cannot be used as the track planning end point.When multi-UAVs cooperatively execute tasks,a method of track planning based on the time-coordinated demand tracking mode is given to ensure that UAVs performing cooperative tasks can simultaneously attack targets.An ant colony algorithm based on adaptive parameter adjustment and bidirectional search mechanism is proposed.The algorithm can adaptively adjust parameters and introduce a bidirectional search mechanism,which improves the slower convergence speed of traditional ant colony algorithm.Compared with the original algorithm,the convergence speed has been significantly improved.Finally,the problem of online re-planning under uncertainty is studied.Due to the uncertainty of the moving state of the moving target,online task re-assignment and online track re-planning methods are provided to ensure the successful execution of the task by the multi-UAVs system under the problem of uncertainty in a complex dynamic battlefield environment,and ensure that the UAVs in the system can not only avoid obstacles,but also obtain a better task allocation scheme based on the total revenue function.