Computer Science

Computer Science ›› 2023, Vol. 50 ›› Issue (7): 176-193.doi: 10.11896/jsjkx.220700066

• Artificial Intelligence • Previous Articles     Next Articles

Survey of Analysis and Solutions for Multi-UAV Cooperative Mission Planning Problem Under Multi-constraint Conditions

HU Jiawei, JIA Zequn, SUN Yantao, LIU Qiang   

  1. School of Computer and Information Technology,Beijing Jiaotong University,Beijing 100044,China
    Beijing Key Lab of Traffic Data Analysis and Mining,Beijing 100044,China
  • Received:2022-07-07 Revised:2022-11-04 Online:2023-07-15 Published:2023-07-05
  • About author:HU Jiawei,born in 1999,postgraduate.Her main research interests include UAV task allocation and trajectory planning.LIU Qiang,born in 1980,associate professor,Ph.D supervisor.His main research interests include mobile communication networks,mobile ad hoc networks,and network simulation.
  • Supported by:
    Red Orchard Project of Beijing Jiaotong University(K21GY1400040).

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Abstract: Multi-UAV cooperative mission planning is the key technology for the intelligent development of UAV swarms at this stage,and task allocation and trajectory planning are the core parts of UAV mission planning technology.As there are numerous and coupled planning elements,it is important to find a solution strategy that reduces both the coupling and complexity of the problem.Firstly,starting from problem modeling,a general model of task planning problem is established,its common constraints and evaluation indicators are summarized,and its problem solving framework is emphatically analyzed.Secondly,common models and solving algorithms of task assignment problem are expounded from the centralized and distributed perspectives,respectively.Afterwards,single-UAV path planning and path smoothing algorithms are discussed,and cooperative methods with multi-UAV space-time cooperative constraints are summarized.In addition,complex coupling factors in the problem solving process are summarized from the perspectives of constraint coupling,sub-problem coupling and hierarchical structure coupling,and the corres-ponding decoupling strategies are discussed emphatically.Finally,the development trend of multi-UAV cooperative mission planning problem in the future is analyzed.

Key words: Cooperative mission planning, Task assignment, Trajectory planning, Coupling analysis, Decoupling

CLC Number: 

  • TP391
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