Multi-UAV Cooperative Task Assignment Based on Orchard Picking Algorithm
Weiheng Liu, Xin Zheng, Harish Garg · International Journal of Computational Intelligence Systems · 2021
The multi-unmanned aerial vehicle (UAV) must autonomously perform reconnaissance-attack-evaluation tasks under multiple constraints in the battlefield environment.This paper proposes a nearest neighbor method designed with the shortest neighboring distance as an indicator which quickly solves the optimal sequence of multiple tasks for cooperative execution.Each target to be destroyed requires a different quantity of ammunition; a cooperative task assignment model for heterogeneous UAVs is established accordingly.Based on the nearest neighbor method, and with reference to fruit-picking techniques currently in use, a novel "orchard picking algorithm (OPA)" is investigated as well.This algorithm proposed in this paper is a heuristic algorithm, which has a broad application prospect in complex task assignment.A cooperative attack task assignment is simulated to test the performance of the algorithm.In essence, it balances the assignment of tasks, works within a brief execution time, and exhibits high flexibility, strong robustness, and scalability.