Integrated distributed method for dynamic cooperative mission planning problem

Based on multi-heterogeneous UAVs in dynamic mission scenario of reconnaissance, striking and verifying, this paper establishes the models for cooperative mission planning problem, and designs an integrated distributed algorithm. Because of the disadvantages of the centralized planning framework, this paper adopts distributed planning framework. First, the graph theory is employed to transform the mission planning problem into directed graph under the constraint conditions of collision avoiding, fuel consuming, and the mission sequence. The Dubins Car Model is used to stand for the UAV's kinematic model. Then, without decoupling the planning solution problems, this paper designs an integrated planning framework, and adopts the genetic/tabu search hybrid algorithm to solve the planning problem. At Last, some examples was presented in several simulation scenarios to compare the performance and computational results from different algorithms, which show that the integrated distributed method can be applied to the dynamic mission scenario, and can rapidly solve the planning problem with complex missions.