Real-time task allocation for a heterogeneous multi-UAV simultaneous attack
Fei Yan, Xiaoping Zhu, Zhou Zhou, Yang Tang · Scientia Sinica Informationis · 2019
In this study, we address a coupled task allocation and path planning problem for a multi-unmanned aerial vehicle (UAV) reconnaissance/attack. Both coupled task allocation and path planning problem are addressed. We propose a task allocation algorithm for maximizing system utility and a path planning algorithm for simultaneous arrival. Moreover, we consider the target's resource requirement and UAV's resource constraints based on a contract net protocol for task allocation. Benefits of destroying the target and costs of UAV attacking target are considered in the objective function. To address the multi-UAV path planning problem, a combination of cooperative particle swarm optimization algorithm, coordination variables, and coordination functions is proposed. UAV's kinematics constraint is considered for the path planning method. Compared with a polynomial time coalition formation algorithm (PTCFA), simulation results show that the proposed algorithm improves the average performance by at least $8%$ with simultaneous arrival using the path planning method.