Task Assignment And Cooperative Path Planning For Multi-UAV Based On Swarm Intelligence

From military,industrial,agricultural to artificial intelligence and other fields,UAV has been more and more widely used.Task assignment and path planning are the two most basic areas of UAV application research.In recent years,a variety of task allocation and path planning methods have been proposed,and some progress has been made.According to the overall control of application scenarios,mission planning makes a reasonable task allocation scheme for UAV to help UAV better complete its tasks.Path planning is based on the distance from the UAV to the target point and other factors to plan the best flight path for the UAV.Therefore,the research on task allocation and path planning is of great significance to the application and development of UAV.As an important optimization method,swarm intelligence algorithm has been widely applied and developed in many engineering fields involving optimization problems.Therefore,the application of swarm intelligence algorithm to UAV task allocation and path planning has a certain practical significance for promoting UAV technology progress and the development of swarm intelligence algorithm.Aiming at exploring the application of swarm intelligence algorithm in UAV task allocation and path planning,this thesis mainly accomplishes the following tasks:(1)The mathematical model of multi-UAV multi-objective task assignment problem is constructed.Starting from the actual situation of multi-UAV task allocation,aiming at the two objectives of task execution time and cost,a multi-objective optimization model with the shortest execution time and the least consumption is proposed to solve the problem of multi-UAV task allocation using swarm intelligence algorithm.According to the task assignment model and the characteristics of the fireworks algorithm,the explosion and selection strategy of the fireworks algorithm is improved,and combined with non-dominant ranking,a multi-UAV task assignment method based on the improved fireworks algorithm is constructed.(2)The mathematical model of Cooperative Path Planning for multiple UAVs is constructed.For a multi-UAV application scenario,a space-time cooperation strategy is presented,and the expression method of flight path is given.The mathematical descriptions of path length,threat coefficient and minimum turning radius constraint are given.A multi-objective mathematical model with minimum path length,minimum threat coefficient,minimum radius constraint and space-time cooperation is constructed.According to the cooperative path planning model and the characteristics of the shuffled leaping frog algorithm,a multi-objective improved shuffled leaping frog algorithm is proposed and used to solve the cooperative path planning problem of multiple UAVs.The worst individual evolutionary strategy of the classical shuffled frog leaping algorithm is improved,and the non-dominant ranking strategy is applied to the optimization process in order to solve the multi-objective optimization problem.Finally,the simulation experiments verify the rationality of the task allocation and collaborative road planning model of the multi-UAV,and the feasibility of the multiUAV task allocation method based on the improved fireworks algorithm and the multiUAV cooperative path planning method based on the improved shuffle frog leap algorithm.