US Patent No. 10,140,875

METHOD AND APPARATUS FOR JOINT OPTIMIZATION OF MULTI-UAV TASK ASSIGNMENT AND PATH PLANNING


Patent No. 10,140,875
Issue Date November 27, 2018
Title Method And Apparatus For Joint Optimization Of Multi-uav Task Assignment And Path Planning
Inventorship He Luo, Anhui (CN)
Guoqiang Wang, Anhui (CN)
Zhengzheng Liang, Anhui (CN)
Xiaoxuan Hu, Anhui (CN)
Shanlin Yang, Anhui (CN)
Huawei Ma, Anhui (CN)
Wei Xia, Anhui (CN)
Peng Jin, Anhui (CN)
Moning Zhu, Anhui (CN)
Yanqiu Niu, Anhui (CN)
Xiang Fang, Anhui (CN)
Assignee HEFEI UNIVERSITY OF TECHNOLOGY, Hefei (CN)

Claim of US Patent No. 10,140,875

1. A method for joint optimization of multi-UAV task assignment and path planning, comprising:a step S1 of obtaining the location information of a plurality of UAVs and a plurality of target points, the dispersion of groundspeed course angle of the UAVs, and motion parameters of each UAV and wind field;
a step S2 of constructing an initial population based on the location information of the plurality of UAVs and the plurality of target points, the dispersion of groundspeed course angle of the UAVs and a preset genetic algorithm, each chromosome in the initial population including the same number of Dubins flight paths as the number of UAVs and each of the Dubins flight paths being completed by a different UAV;
a step S3 of determining the flight status of each UAV and the flight time taken by each UAV to complete a path segment of the corresponding Dubins flight path based on the initial population and the motion parameters of each UAV and wind field, and obtaining the total time taken by all the UAVs corresponding to each chromosome in the initial population to complete the task based on the flight time of the path segment and an MUAV-VS-DVRP model; and
a step S4 of subjecting the chromosomes in the initial population to crossover and mutation based on the genetic algorithm and, when a predetermined number of iterations is reached, selecting the Dubins flight path corresponding to the chromosome with all the UAVs taking the shortest time to complete the task as the jointly-optimized task assignment and path planning scheme for the UAVs.