Research On UAV Path Planning And Task Assignment Method Based On Improved Wolf Pack Algorithm

With the increasing progress of technology,the technology of unmanned aerial vehicle(UAV)has gradually matured and the areas of application are becoming more and more diverse.The complexity of the environment and the diversification of tasks make individual UAV no longer meet the requirements,so the cooperative mission planning of multiple-UAV is extremely urgent.The path planning and task assignment are the key technologies of the task planning system.The UAV path planning can guarantee the flight safety of UAV,and reasonable task assignment sequence can optimize the overall performance.Therefore,the study of UAV path planning and task assignment has practical application value and theoretical significance.The main research contents of this paper are as follows:Firstly,for the solution of the UAV path planning problem,this paper conducts a study based on the wolf pack algorithm.In order to improve the optimization seeking ability of the wolf pack algorithm and avoid it falling into local optimum,an improved wolf pack algorithm based on adaptive adjustment of step length is proposed to improve the wandering step length and the siege step length,and its convergence is proved.The simulation results show that the improved wolf pack algorithm effectively improves the global optimality seeking ability,the convergence speed of the algorithm is improved,and the algorithm is effectively avoided to fall into local optimum.Secondly,by descring and analyzing the auction algorithm,this paper applies it to the task assignment problem,takes the cost of the improved wolf pack algorithm for UAV path planning as one of the factors that affect the task assignment.Through the combination of improved wolf pack algorithm and auction algorithm,the path planning under multi-task assignment is realized.The simulation results show that the improved wolf pack fusion auction algorithm can obtain a scientific allocation scheme to ensure the short and safe flight path of the UAV,realize the full use of the resources,and finally achieve the goal of obtaining higher benefits with less effort.Finally,further consider the attributes of UAV,improve the particle swarm optimization algorithm in combination with the spherical coordinate system,introduce the UAV wing length and flight angle information,make the simulation more in line with the actual flight situation,and combine with the auction algorithm to form an improved particle swarm optimization fusion auction algorithm for the path planning and task assignment.The improved algorithm can realize the path planning under multi-task assignment,make the UAV effectively avoid threats,arrive and execute tasks safely and quickly,realize the overall coordination of global resources.