| With the rapid development of UAV technology,the increasing complexity of tasks,and the functions of a single UAV are limited,multi-UAV collaborative task execution has become one of the future development directions.Task planning has become a prerequisite for multi-UAV systems to perform tasks,which has important research significance.Based on the existing literature,this paper focuses on the application of multi-UAV cooperative task allocation and path planning technology.First of all,facing the trajectory planning problem of UAV performing multi-target reconnaissance mission,a hierarchical trajectory planning method based on improved particle swarm optimization algorithm combined with Gaussian pseudo-spectral method is proposed.An improved particle swarm optimization algorithm was designed for trajectory pre-planning.In the face of the traditional particle swarm optimization algorithm,the convergence speed is slow and it is easy to fall into the local optimal problem.By introducing chaotic map initialization and adaptive parameter adjustment strategy,the convergence speed of the algorithm is accelerated and the optimality of understanding is improved.On this basis,in order to improve the accuracy and controllability of the reconnaissance trajectory,the trajectory re-planning is carried out based on the Gaussian pseudo-spectral method.By introducing the trajectory pre-planning result as the initial value guess,the efficiency and accuracy of algorithm are further improved.The simulation analysis of UAV reconnaissance trajectory is carried out in complex environment.The results show that the designed algorithm can quickly generate high-precision reconnaissance trajectory,which is in line with the engineering application of military UAV reconnaissance mission.Secondly,in order to improve the efficiency for multi-UAV,a distributed task assignment scheme based on contract network negotiation mechanism and Bayesian network is proposed.Established a dynamic Bayesian network situation assessment model to evaluate situation of the task target and make preliminary decisions,and select UAVs that meet the target requirements as mission candidates.A distributed contract network negotiation mechanism is designed.UAVs exchange information based on the communication topology,exchange mission information and execute mission value,in order to achieve a global consensus and complete task allocation.A remarkable advantage of the scheme is that no central node is need and the computation burden for each UAV is released.Finally,simulations for task assignment of multi-UAV in complex environment is carried out.Results show that the designed scheme can efficiently and quickly generate task execution plans under the communication network. |
