Multi-UAV Cooperative Task Assignment Based on Orchard Picking Algorithm
, Xin Zheng1, Harish Garg2, - DOI
- 10.2991/ijcis.d.210423.003How to use a DOI?
- Keywords
- Multi-objective optimization; Cooperative task assignment; Heterogeneous UAVs; Nearest neighbor method; Orchard picking algorithm
- Abstract
The multi-unmanned aerial vehicle (UAV) must autonomously perform reconnaissance-attack-evaluation tasks under multiple constraints in the battlefield environment. This paper proposes a nearest neighbor method designed with the shortest neighboring distance as an indicator which quickly solves the optimal sequence of multiple tasks for cooperative execution. Each target to be destroyed requires a different quantity of ammunition; a cooperative task assignment model for heterogeneous UAVs is established accordingly. Based on the nearest neighbor method, and with reference to fruit-picking techniques currently in use, a novel “orchard picking algorithm (OPA)” is investigated as well. This algorithm proposed in this paper is a heuristic algorithm, which has a broad application prospect in complex task assignment. A cooperative attack task assignment is simulated to test the performance of the algorithm. In essence, it balances the assignment of tasks, works within a brief execution time, and exhibits high flexibility, strong robustness, and scalability.
- Copyright
- © 2021 The Authors. Published by Atlantis Press B.V.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
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TY - JOUR AU - Weiheng Liu AU - Xin Zheng AU - Harish Garg PY - 2021 DA - 2021/04/29 TI - Multi-UAV Cooperative Task Assignment Based on Orchard Picking Algorithm JO - International Journal of Computational Intelligence Systems SP - 1461 EP - 1467 VL - 14 IS - 1 SN - 1875-6883 UR - https://doi.org/10.2991/ijcis.d.210423.003 DO - 10.2991/ijcis.d.210423.003 ID - Liu2021 ER -