Abstract
In this paper, the cooperative task planning of agricultural plant protection multi-UAVs is studied. The related concepts of cooperative task allocation are discussed. Firstly, the content of cooperative task is summarized; secondly, many kinds of constraints, including individual constraints and cooperative constraints, are discussed and studied, the connotation of the problem is analyzed from different levels, different aircraft trajectory planning methods are studied, the mathematical model of practical engineering is established, and the results are analyzed. This research has certain guidance and practical reference significance for solving the application of UAV cooperative task allocation in the agricultural field.
Published Version
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