多异构无人机任务规划的分布式一体化求解方法

This paper studies the planning problem of investigation, strike and evaluation task for known targets with multi-heterogeneous fixed wing Unmanned Aerial Vehicles (UAVs). Firstly, the task execution time-consuming constraints, collaborative attack constraints are added to the cooperative multiple task assignment problem (CMTAP). Then, based on the distributed planning architecture, the integrated solution of the two sub-problems is completed by improving the gene coding method. In order to optimize the uniformity of the UAVs' planning trajectories, the total time index of the task completion is added to the cost function. The feasibility of this method is verified by the six-degree-of-freedom model and the Vector-based path following algorithm. The simulation results show the rapidity of this method.