Research On Multiple Task Planning For Multiple Heterogeneous Unmanned Aerial Vehicle

Mission planning is an important part for unmanned aerial vehicle(UAV) to carry out its task scientifically. It is the key to taking advantage of cooperative combat of multi-UAV to explore modeling and algorithms of multiUAV and multi-task mission planning, which makes a task plan to meet operational needs for UAV and makes the overall operational effectiveness of multi-UAV systems be prior to the sum of operational effectiveness of individual UAVs. The above contents have importantly theoretical value and practical significance.In view of characteristic of multi-task mission planning for multiple heterogeneous UAV, mission planning model and algorithm was developed in this paper, including analyzing constrained relationships among different tasks and describing the method of mission planning that indicates inter-coordination among tasks. Considering for complexity of simultaneously multi-task assignment problem, mission planning model of multiple heterogeneous UAV and relevant algorithm were proposed. Experiment environment of virtual reality was designed and developed based on VR-Forces. The main study work and innovation point are as below:(1) Studying on multiple task planning for multiple heterogeneous UAV problem. According to task priority, target location and time requirement of multi-UAV and multi-task mission planning that was described in this paper, characteristic, principle and content was proposed. Working mechanism of multiple task planning for multiple heterogeneous UAV was constructed. System structure, technical requirements and basic procedure are introduced specifically.(2) Constructing mathematical model of multiple task planning for multiple heterogeneous UAV. The idea of mathematical modeling for mission planning was proposed. Then mathematical model of monostatic multiple task planning for multiple heterogeneous UAV based on reasonable decomposition on tasks. To multistatic problem, MILP model was improved based on classical MILP model.(3) Designing algorithm of task planning for multiple heterogeneous UAV on the basis of Taboo Search. Since the model of multiple task planning for multiple heterogeneous UAV has a few constraint condition, the key to solute the problem using Taboo Search algorithm is to design proper moving operator, search strategy, Taboo list and aspiration criterion, etc. Contraposing to characteristic of model, series of proper algorithm designed in this paper guarantee legality of individual solutions and feasibility of moving operator.(4) Studying on performance evaluation problem of multiple task planning for multiple heterogeneous UAV. According to choosing principles of performance evaluation and characteristic of multiple task planning for multiple heterogeneous UAV, index system of performance evaluation for multiple task planning for multiple heterogeneous UAV was constructed utilizing analytic hierarchy process(AHP). Fuzzy comprehensive evaluation model was set up combing with the constructed index system.(5) Developing experiment environment of virtual reality of multiple task planning for multiple heterogeneous UAV. Combining model of multiple task planning for multiple heterogeneous UAV with study of theory of algorithms, multiple task planning for multiple heterogeneous UAV system was developed based on VR-Forces. Model and algorithm was verified by simulation case designed in this paper.