Task Assignment And Control Simulation Of UAV Cluster

As the environment of tasks for UAV becomes more and more complex,the task capability of single UAV is limited and its survivability is challenged.The task mode of UAV has gradually evolved from single platform to cluster.Moreover,with the continuous development of UAV technology,especially the improvement of autonomous flight control,UAV can execute the tasks cooperatively.Therefore,UAV cluster system will become an important research topic in the field of UAV application.The main research contents of this paper are the design of UAV cluster architecture,task planning and cooperative flight control of UAV cluster system.The architecture of UAV cluster is the basis of studying UAV cluster.This paper designs a dynamic distributed architecture,which improves the efficiency of UAV cluster decision-making and the security and reliability of task execution.It also clarifies the communication and decision-making schemes under this architecture,and designs and analyses three UAVs involved in UAV cluster.Task planning is the prerequisite for UAV to perform tasks,including task assignment and path planning.In this paper,based on the dynamic distributed architecture,UAV cluster cooperative task planning is studied.For typical cooperative search and attack tasks,considering the influence of no-fly zone,a mathematical model of task planning is established.Taking the shortest execution time as the optimization objective,a multi-population genetic algorithm with parallel computation is proposed.Tasks are taken as genes,and some tasks assigned by UAVs are arranged into chromosomes.Through the co-evolution of multiple populations and gene exchange among populations,a genetic algorithm with parallel computation is proposed.Parallel computation of task planning problem solving is realized.On this basis,the UAV cluster cooperative flight control is studied,including UAV cluster formation flight control and UAV cluster cooperative flight control in search and attack task.A cooperative control scheme based on commands(waypoint command,follow command,action command,etc.)is designed.On the basis of formation flight,a dynamic programming UAV scheduling scheme is introduced to realize the cooperative flight control of UAV cluster in the whole process of task execution.Finally,based on the mixed programming of MATLAB and C#,the core algorithms of simulation are written by MATLAB,which including task assignment algorithm,route planning algorithm,search path algorithm,etc.Besdes,the whole process of UAV cluster execution is simulated by using C# development simulation software platform.