A Unified Modeling Method of UAVs Cooperative Target Assignment by Complex Multi-constraint Conditions

Abstract

The multi-UAVs cooperative target assignment problem (MUCTAP) is a condition-complicated multi-models and multi-constraint combinatorial optimization problem, and it difficult to get a feasible solution by unified processing method. In order to solve this problem, a uniform model has been built for all kinds of unmanned aerial vehicles (UAVs) target assignment situations in this paper. We also design the unified processing method so that it can handle different types of MUCTAP. Considering the 3D environmental character, we present a method for MUCTAP by using spatially vertical section to compute the cost of flight path length, and apply the cost matrix of flight path length to optimize the target assignment algorithm. We also add the collaborative constraint relation to compute, so that it can improve the target assignment algorithm s accuracy. Simulation results show that this model can adapt to a variety of target assignment problems, and it has a high universality and accuracy. So it can effectively accomplish the task of MUCTAP.