A coordinated assignment method for multi-UAV area search tasks

This paper mainly studies the coordination task assignment problem faced by multi-UAV systems when performing area search tasks. First, for the coverage search task, by analyzing the task load of each UAV, this paper proposes and establishes a dynamic model of UAV task load based on the biological competition mechanism, and proves that the model can realize the area under the condition of weighted threat probability. Even distribution of search tasks. Secondly, on the basis of solving the priority traveling salesman problem, through simulated annealing algorithm, the established priority traveling salesman problem is solved, and the path planning method of UAV is obtained. Finally, through simulation experiments, the effectiveness and engineering practical significance of the area search task assignment method proposed in this paper are verified.