Research on Heterogeneous MUMTMP Based on Joint Optimization of Route Planning and Task Assignment

A method of multi-UAV multi-task mission planning taking into account both route planning and task assignment is proposed. The path for any two points is planned with Dubins curve meeting the minimum flight radius of UAVs, incident and exit angle of targets, respectively. B-spline curve is used to revise path in case of the planned paths pass though threat area; Based on distance matrix, an improved GA to eliminate deadlock is used in task assignment. The simulation results show that proposed method has fine effect on convergence speed and allocation schemes in task assignment and reasonable paths in route planning under different scenarios. These results can be a reference for practical application environments in MUMTMP.