Cooperative task allocation with simultaneous arrival and resource constraint for multi-UAV using a genetic algorithm

Abstract

In recent years, the application of multi-UAV cooperation systems has expanded across various domains. Enhancing the coordination performance of multi-UAV systems can be achieved through task allocation methods, typically relying on a hierarchical structure. This paper proposes a novel approach using a modified genetic algorithm (GA) to address the integrated task allocation and path planning problems for multi-UAV attacking multi-target. To create a more realistic mission scenario, multiple constraints, such as resource requirement and simultaneous target arrival, are considered. The modified GA incorporates tailored crossover and mutation operators that ensure compliance with the aforementioned constraints. Furthermore, an unlocking strategy is devised to prevent the occurrence of a chromosome deadlock condition, in which several UAVs become stuck in an infinite waiting state. Through simulation results, the modified GA is demonstrated to effectively delivers feasible solutions to the coupled task allocation and path planning problems, preserving the integrated nature of the optimization process. Monte Carlo simulations are conducted to highlight the superiority of the proposed method in comparison to conventional approaches.