Research on Collaborative Optimization Method of Multi-UAV Task Allocation and Path Planning

Authors

Peng Xiao, School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, ChinaFollow
Feng Xie, Chengdu Aircraft Design and Research Institute, Aviation Industry Corporation of China, Chengdu 610091, China
Haihong Ni, School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China
Min Zhang, School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China
Zhili Tang, School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China; Xi’an Key Laboratory of Intelligent Cognition and Control of Aircraft, Xi’an 710072, China
Ni Li, School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China; Xi’an Key Laboratory of Intelligent Cognition and Control of Aircraft, Xi’an 710072, ChinaFollow

Abstract

Abstract: Aiming at the task requirements of multi-UAV to perform multi-target collaborative reconnaissance, a collaborative optimization method of multi-machine and multi-objective task allocation and path planning is proposed. Based on the partheno genetic algorithms (PGA), a cost function combined with the actual path cost is constructed through the Dubins curve. To further reduce the calculation cost, a clustering algorithm based on UAV detection distance is proposed, and the generated clustering point is used as a new waypoint of UAV. The simulation results show that considering the dangerous area and the large number of reconnaissance points, the algorithm can effectively complete the reconnaissance task allocation of the UAV and at the same time form a preliminary route. It improves the rationality and convergence speed of task assignment, and reduces the overall cost.

Recommended Citation

Xiao, Peng; Xie, Feng; Ni, Haihong; Zhang, Min; Tang, Zhili; and Li, Ni (2024) "Research on Collaborative Optimization Method of Multi-UAV Task Allocation and Path Planning," Journal of System Simulation: Vol. 36: Iss. 5, Article 9.
DOI: 10.16182/j.issn1004731x.joss.23-0012
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss5/9

First Page

1141

Last Page

1151

CLC

TP391.9

Recommended Citation

Xiao Peng, Xie Feng, Ni Haihong, et al. Research on Collaborative Optimization Method of Multi- UAV Task Allocation and Path Planning[J]. Journal of System Simulation, 2024, 36(5): 1141-1151.

Corresponding Author

Li Ni

DOI

10.16182/j.issn1004731x.joss.23-0012