多UAV协同任务规划层次分解及约束处理方法研究

Research on layer disassembling and constraint handling methods of multi-UAV cooperative mission planning

针对多UAV协同任务规划问题的复杂性,构建了多UAV协同任务规划系统的总体框架,分析了多UAV协同任务的层次特性,提出了多UAV协同任务规划分层策略;在不同层次上,将多UAV协同任务规划问题抽象为多UAV协同任务分配和多UAV协同航迹规划两个子问题;设计了任务规划逻辑流程,有效降低了任务规划问题的求解难度。对多UAV协同任务规划具有指导意义。

Aiming at the complexity of multi-UAV cooperative mission planning, the paper describes the construction of the framework of multi-UAV cooperative mission planning system, analyzes the layer characteristics of muhi-UAV cooperative mission planning and presents the layered strategy for muhi-UAV cooperative mission planning. On different layers, the multi-UAV coopera- tive mission planning falls into two subproblems which refer to muhi-UAV task assignment and multi-UAV coordinated route plan- ning. In addition, the logical flow of the multi-UAV cooperative mission planning is designed, and thus the calculation difficulty of the task planning is efficiently reduced. The research results have guiding significance for multi-UAV cooperative task planning.