基于动态联盟策略的无人机集群在线任务规划方法

A distributed online mission planning method based on a dynamic alliance strategy is proposed to deal withthe complex problems of high dynamics, strong uncertainty, and multiple constraints of UAV swarm mission planning in a complex battlefield environment. Firstly, the typical scenarios of UAV swarm dynamic mission planning are described, and the mathematical model of multi-constraint distributed mission planning ofthe heterogeneous UAV swarm is established. Secondly, a task alliance formation strategy considering the dynamic topological constraints of the UAV swarm is designed, and an improved ant colony algorithm coupled with Dubins path planning is proposed to realize the online solution of dynamic mission planning with multiple constraints and strong uncertainties. Finally, typical task simulation scenarios of theheterogeneous UAV swarm is constructed, and the effectiveness of the proposed strategy and algorithm is verified by digital simulations and virtual-real semi-physical simulations. The results show that the proposed method can achieve better system performance with less loss of mission completion time in the dynamic mission planning process, which is of some significance for further research work towards engineering applications.