Autonomous Mission Planning Method For Heterogeneous Multiple Unmanned Aerial Vehicles

In the future,multiple unmanned aerial vehicles(UAVs)cooperative combat is an important development trend.Besides,the mission planning in especial the cooperative mission planning for multi-UAV under complex environment as one of the key technologies in autonomous control is of great significance in enhancing the survivability and task completion rate.In this paper studies three problems of multi-UAV cooperative search,multi-UAV cooperative off-line mission planning and multi-UAV cooperative online task planning.The main work and contributions are as follows:(1)For time-sensitive target search problem,the “Search Map” is used to describe the UAV’s cognition to the environment.The “search map” includes the target existence probability map(TPM)and the digital pheromone map(DMP).TPM uses the probability to describe the distribution of the target in the task area.According to the different characteristics of the target,the TPM initialization,dynamic update and forecast update method are established,which make full use of the communication information.DPM includes attracting,excluding and dispatching three types of digital pheromones,and UAV collaborative mechanism is designed through three pheromones.full use of communication information,TPM initialization,dynamic update and forecast updating method are established according to the different movement characteristics of the target.basis on this,the effectiveness function of UAV search is designed and the UAV collaborative search decision-making method based on model predictive control.Finally,a detailed simulation is carried out.Simulation results show that this method can accurately describe the motion characteristics of the target,enhance the cooperation efficiency between UAVs,increase the number of UAV collaborative search targets and improve the overall search performance.(2)Based on the UAV completed search to obtain environmental information and target information,an off-line mission planning model of heterogeneous multi-UAV was established.The model fully considered battlefield topography and dangerous areas,destroying target demand resources,Damage probability of UAV own resources,range constraints and other conditions,and for the characteristics of the model proposed a parallel GAPSO based model solving algorithm,and finally designed a detailed simulation to verify the effectiveness of the algorithm(3)For the mission planning of heterogeneous unmanned aerial vehicles(UAVs),considering the resources that the UAVs carried and the resources that destroy targets needing,Using a way to form a coalition to complete the strike mission,the coalition UAV resource constraints,through the Dubins path to coordinate the trajectory to achieve simultaneous attacks,Based on this,a multi-objective optimization model for forming alliance is established and a parallel NSGA-II solution model is proposed.The simulation example is used to verify the rationality of the method.