Research On Cooperative Path Planning And Task Assignment Algorithm Of Multiple UAV

With the development and maturity of UAV technology,computer technology and its related technologies,UAV is gradually used in national defense,traffic command and dispatching and people’s daily life,especially in the military field.In the actual working situation of UAV,multi UAV cooperative mission is its main work form,and the research on multi UAV cooperative flight is a hot topic in the field of UAV.In this paper,multi UAV cooperative work scene is taken as the research object,and the goal is to improve the efficiency,robustness and real-time performance of multi UAV cooperative work under the control of ground base station,focusing on the in-depth analysis and research of multi UAV cooperative path planning algorithm,task allocation algorithm and formation maintenance algorithm.The main work of this paper is as follows:1.Research on UAV path planning algorithm.By improving the node selection and expansion strategy of A*algorithm,the number of nodes is reduced,so as to reduce the time of track planning;based on the improved A*algorithm,a layered strategy combining large step and small step length is proposed to plan the track,so as to reduce the time of global track planning and improve the real-time performance of the algorithm;when encountering dynamic obstacles in the course of navigation,it is proposed to deal with such situations To improve the robustness of the algorithm.2.Research on multi UAV cooperative task allocation algorithm.Based on the complex constraints of the actual situation,the particle swarm optimization algorithm is improved to meet the task allocation under the complex constraints.The adaptive inertia weight and acceleration coefficient are proposed to improve the convergence of the algorithm and the effect of the allocation scheme.3.Research on formation keeping algorithm of multiple UAV This paper puts forward the formation keeping algorithm of UAV Based on virtual center method,which can provide guarantee for the UAV to work in the form of fixed formation,and uses the fuzzy control method to solve the problem of communication delay in the ground control base station control UAV flight.4.Experimental research based on the whole system.In order to verify the feasibility and effectiveness of the algorithm,a simulation experiment platform for multi UAV cooperative work is built,and a comprehensive verification experiment fo UAV track planning,task allocation and formation keeping algorithm is designed and carried out.