Research On Cooperative Method Of Multi-UAV Task Assignment And Path Planning

With the progress of science and the development of society,UAV has been applied more and more widely in recent years.UAV has played a great role in many fields,such as fighting and annihilating the enemy in the military aspect.Civilian aspects such as delivery of supplies,electricity inspection.In agriculture,there are pesticide spraying,crop detection,and so on.Increasingly intelligent drones make our life more convenient.However,in the real situation,the air environment is complex and changeable,and it is difficult to complete the actual task by relying on a single UAV.Only multi-aircraft cooperation can ensure the combat effectiveness and improve the completion efficiency of the task.Therefore,in recent years,the research on UAV task allocation and flight path planning has gradually become the focus.Different task execution sequences bring different benefits and costs to the whole cluster,and good flight path planning of UAV has become the primary condition for safe flight of UAV.Therefore,it is very important to study the combination of UAV task allocation and flight path planning.In order to enable the UAV to perform the task better,this paper improved the auction algorithm by assigning the UAV task and reassigning the UAV task in the face of complex environment.In order to minimize the cost of UAV in flight,an improved A~* algorithm is proposed to realize the coupling of UAV task assignment and flight path planning.The main research contents of this paper are as follows:Aiming at the problem of UAV task allocation,this paper firstly describes the traditional auction algorithm based on the traditional auction algorithm,analyzes the advantages and disadvantages of the traditional auction algorithm,and applies it to UAV task allocation.For the problems of long allocation time and simple model of traditional auction algorithm,the traditional auction algorithm is improved.Firstly,the leader of the cluster not only assumes the role of assigning tasks,but also participates in the assignment and execution of tasks.Secondly,for the actual space environment,UAV may encounter new threat areas or new target points that are not detected during pre-allocation during the execution of tasks,which will affect the result of UAV task allocation in the actual battlefield environment and reduce the overall combat performance of UAV cluster.For such problems,when the UAV encounters a new threat area during the execution of a task,it chooses to use auction contract;when the UAV encounters a new target point during the execution of a task,it uses exchange contract to reallocate the task locally,so that the UAV can avoid threats in real time.By comparing the simulation results,the effectiveness of the improved algorithm is verified.In order to solve the problem of route planning of UAV,in this paper,based on that A~*algorithm,the principle and objective function of the traditional A~* algorithm are described.In addition,the traditional A~* algorithm is improved because of its slow efficiency and slow convergence speed.The adaptive weight factor is introduced into the objective function of the conventional A~* algorithm,at the same time,some constraints are considered to improve the cost function.Secondly,considering that the different order in which all UAVs in the fleet perform their tasks will result in different benefits for the entire fleet,therefore,this paper uses simulated annealing algorithm to coordinate tasks,last,the fusion based on improved A~* algorithm and contract net auction algorithm to achieve the cooperation between multiple UAVs.It is proved that the fusion of contract net auction algorithm and A~* algorithm is better than a single task allocation problem.