Configuration Transformation Planning Method of Unmanned Aerial Vehicle Cluster Based on Improved Hungarian Algorithm
Xiaodong Shen, Lei Chen · Journal of Physics Conference Series · 2022
Abstract For the planning problem of Unmanned Aerial Vehicle (UAV) formation configuration transformation, a formation configuration transformation planning method based on the improved Hungarian algorithm is proposed. By selecting a straight-line path as the movement path of UAVs in configuration transformation, the configuration transformation problem is transformed into a multi-UAV position assignment problem with constraint handling in a dynamic environment. For the Hungarian algorithm efficiency matrix power function treatment, the improved algorithm can be simultaneously bivariate integrated optimization; Introduce the time axis in the configuration space to establish the configuration-time space, and analyze the collision constraints during the dynamic transformation process in this space, and finally, the feasibility of the method is verified by simulation.