Abstract:

An integrating framework of task assignment and path planning for multiple unmanned aerial vehicles (UAVs) is presented. To avoid the obstacles area which is represented as polygon, the shortest path segment between UAVs and task can be found by the improved A* algorithm. According to this segment distance, the global objective function of task allocation is modeled. The assignment process is determined by improved particle swarm optimization (PSO), which particle structure matches the cooperative system. The B-spline method is adopted to smooth the flight path, which consists of path segments of the assignment. Numerical results demonstrate that the proposed method can achieve the optimal task assignment solution and best flight routes.