Abstract
This paper investigates the cooperative patrol task planning problems for multiple unmanned aerial vehicles by considering the patrol task requirements. A new cooperative patrol task planning approach is proposed to complete the patrol task. Firstly, the cooperative patrol task planning model for multiple unmanned aerial vehicles is established. Then, the corresponding complex constraint condition processing method with two steps is designed; that is, obtaining the initial result via Floyd algorithm firstly and then generating the optimal solution by adopting the improved Push Forward Insertion Heuristic (IPFIH) algorithm. It is proved that the proposed algorithm can obtain feasible solutions that meet all constraints and maximize the patrol payoff under the limited resources conditions. Finally, a numerical simulation is provided to demonstrate the effectiveness of the proposed cooperative patrol task planning approach.
Highlights
The unmanned aerial vehicle (UAVs) has been found highly effective in many applications where human presence in the aircraft is deemed unnecessary or dangerous, such as mapping, surveillance, search and patrol operations, etc
As a significant problem of the cooperation of multiple UAVs, cooperative patrol task planning of Multiple UAVs is required to consider the characteristics of UAV resource types, volume and the task under certain constraints; that is, flight navigation and sensor performance constraints, respectively, which include the task time window constraint, feasible task for each UAV planning, defining the overall objective function returns of patrols and implementing the largest value of objective function returns, to name a few
This paper focuses on solving the cooperative patrol task planning problem for multiple UAVs
Summary
The unmanned aerial vehicle (UAVs) has been found highly effective in many applications where human presence in the aircraft is deemed unnecessary or dangerous, such as mapping, surveillance, search and patrol operations, etc. As a significant problem of the cooperation of multiple UAVs, cooperative patrol task planning of Multiple UAVs is required to consider the characteristics of UAV resource types, volume and the task under certain constraints; that is, flight navigation and sensor performance constraints, respectively, which include the task time window constraint, feasible task for each UAV planning, defining the overall objective function returns of patrols and implementing the largest value of objective function returns, to name a few (see [1] and [2]) In this case, the cooperative patrol task planning problem for multiple UAVs becomes a typical NP problem with complex constraint conditions and heterogeneous multi-model due to the comprehensive consideration of. Its core is to regard task assignment as a transaction process and achieving global
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