Research On Task Allocation And Trajectory Planning Methods For Multi-target And Multi UAV

With the complexity of UAV’s target task environment and the scale of task allocation,the demand for UAV task allocation efficiency is increasing.Trajectory planning is the key to realize the automation and intelligence of UAV and the key technology to improve the efficiency of UAV in reconnaissance,search,patrol inspection,transportation,attack and other tasks.Therefore,it is of great significance to implement an effective task allocation strategy and plan a stable operation track to adapt to the dynamic changes of the environment.The main research contents are as follows:Firstly,aiming at the problem of large scale and long operation time of UAV task allocation,a UAV task allocation method based on clustering idea and improved ant colony algorithm is proposed.This method constructs a multi-objective UAV task allocation model with the largest goal completion,the smallest uncertainty of workspace information and the lowest search cost in the process of task allocation.Ant colony algorithm is introduced and the pheromone allocation method of ant colony algorithm is improved to improve the efficiency of task allocation.Simulation results show that this method can effectively solve the task allocation problem of UAV,and the operation efficiency of the algorithm is greatly improved.Secondly,aiming at the constraints of time cooperation,space cooperation and threat avoidance in UAV three-dimensional global static path planning,a global static trajectory planning method based on improved firefly algorithm is proposed.In this method,the multi constraint comprehensive cost objective function is constructed.Aiming at the phenomenon that the firefly algorithm is prone to local optimization and population precocity,the population initialization distribution mode is improved,and a variety of population optimization strategies and global adaptive step size update mechanism are introduced.At the same time,in order to eliminate unnecessary turning points in the planning results,B-spline interpolation method is selected to smooth the target track.The effectiveness of the improved algorithm and smoothing strategy is verified by two three-dimensional static environment simulation examples with different terrain complexity.Finally,aiming at the sudden local threat in UAV dynamic path planning,an improved artificial potential field algorithm based on dynamic window obstacle avoidance strategy is designed to realize UAV local dynamic trajectory planning.In order to avoid the potential field algorithm falling into local minimum points and target unreachable in the planning process,the controllable force and target point potential energy supplement are introduced.Aiming at the sudden threat obstacles in the UAV dynamic environment,the dynamic window collision avoidance strategy is used to reduce the collision probability and improve the safety and reliability of trajectory planning,so as to further optimize the local dynamic trajectory planning path.In general,this paper provides some research ideas for the task allocation and track planning of multiple UAV.By studying and improving the algorithm theory and designing simulation experiments,it can effectively improve the overall planning efficiency of UAV in multi-target task allocation and improve the effectiveness and adaptability of UAV track planning in different complex environments.