On Task Allocation Algorithms For Multi-UAV

With the rapid development of UAV technology and the increasingly complex battlefield environment,UAV mission planning system has become a hot and difficult issue in the combat field of UAV.Task allocation is the basis of mission planning for UAV.Aiming at two typical missions of suppression of enemy air defense and cooperative reconnaissance,this thesis studies the method of task allocation to multiple UAVs in a formation,and applies this method to the development of UAV mission planning system software in reality.This method can be further extended to multiple formations.The main research contents of this thesis are as follows:(1)This thesis introduces the research background and significance of the task allocation of UAVs,and summarizes the related work of UAVs task allocation.(2)This thesis studies the task allocation method of UAV formation for suppression of enemy air defenses.Aiming at the suppression of enemy air defenses described in this thesis,a method is proposed in which multiple UAVs form a set of formation and a dissolution point when flying in a formation.This thesis focuses on the static task allocation algorithm of the UAV formation.Then it does three task allocations and generates a static mission allocation table to each UAV in the formation according to the importance of ground targets,the total range of each UAV,and the communication distance between UAV and ground control station.Finally,an algorithm for task redistribution of UAV formation in dynamic environment is presented,which has highly real-time performance.(3)This thesis studies the task allocation method of UAV formation for single-area cooperative reconnaissance.Aiming at the cooperative reconnaissance of two modes based on quantitative restrictions and time constraint,a method is proposed in which multiple UAVs form a set of formation and a dissolution point when flying in a formation.This thesis focuses on the static task allocation algorithm of the UAV formation.Then it does three task allocations and generates a static task allocation table to each UAV in the formation according to UAV resources,the total range of each UAV,and the communication distance between UAV and ground control station.Finally,an algorithm for task redistribution of UAV formation in dynamic environment is presented,which has highly real-time performance.(4)This thesis utilizes the framework of MFC and C++ programming,combine the Arc GIS Engine 10.1 component object library and Open CV2.4.9 library functions,and apply the task allocation method described in this thesis to the engineering practice of UAV mission planning system software.