Multi-UAV Dynamic Task Assignment by ISODATA Restrained Clustering
Jun Tao · Electronics Optics & Control · 2010
The dynamics and uncertainty of the battle field,as well as the complexity in task assignment make it difficult for the preplanning of Unmanned Aerial Vehicle(UAV) to satisfy the performance request in time sensitivity.A formulation was proposed for multi-UAV dynamic task assignment,and an ISODATA constrained clustering was designed to solve the problem.Task reassignment based on grouping was used.First,task grouping was implemented according to ISODATA restrained clustering,and then immune particle swarm algorithm was used to make task reassignment inside a group.The results and analysis of simulation indicated that the approach is effective and simple with good time performance,which can deal with many unexpected instances in battle field.