Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (6): 1827-1837.doi: 10.13229/j.cnki.jdxbgxb20170704

Previous Articles     Next Articles

Distributed integrated method for mission planning of heterogeneous unmanned aerial vehicles

WU Wei-nan1(),CUI Nai-gang1,GUO Ji-feng1,ZHAO Yang-yang2   

  1. 1. Department of Aerospace Engineering, Harbin Institute of Technology, Harbin 150001,China
    2. No.624, China North Industries Group, Harbin 150001,China
  • Received:2017-07-05 Online:2018-11-20 Published:2018-12-11

RICH HTML

 18   

PDF (PC)

189

Abstract:

This paper studies the planning problem of investigation, strike and evaluation task for known targets with multi-heterogeneous fixed wing Unmanned Aerial Vehicles (UAVs). Firstly, the task execution time-consuming constraints, collaborative attack constraints are added to the cooperative multiple task assignment problem (CMTAP). Then, based on the distributed planning architecture, the integrated solution of the two sub-problems is completed by improving the gene coding method. In order to optimize the uniformity of the UAVs' planning trajectories, the total time index of the task completion is added to the cost function. The feasibility of this method is verified by the six-degree-of-freedom model and the Vector-based path following algorithm. The simulation results show the rapidity of this method.

Key words: flight vehicle design, task assignment, trajectory generation, distributed genetic algorithm, heterogeneous unmanned aerial vehicle, Dubins trajectory

CLC Number: 

  • TP29

Fig.1

Graphical representation for task execution time"

Fig.2

Genes representation for distributed genetic algorithm"

Table 1

Parameters setting for UAVs"

UAV 巡航速度
/(m·s-1)		 初始位置
和航向
/(m,m,(°))		 保持的
高度/m		 最小转弯
半径/m		 极限探测
距离/m
UAV-R 55 (0,0,0) 300 300 520
UAV-C 55 (0,0,0) 350 300 520
UAV-S 65 (0,0,0) 400 260 -
UAV-S 65 (0,0,0) 430 260 -

Table 2

Parameters setting for targets"

目标 位置/m 包括的任务 相应任务需要的
执行时间/s
1 (600,5200) {R,S,V} 5
2 (1120,5800) {R,S,S,V} 5
3 (5600,5350) {R,S,V} 5

Table 3

Parameters setting for DGA"

Np Ng Ncp Ne Ncro Pmuta
1000 500 10 100 800 0.03

Fig.3

Trajectory generated by mission planner and actual flight trajectory for each UAV"

Fig.4

Height keeping command and actual height for each UAV"

Fig.5

Heading angle command and actual heading angle for each UAV"

Table 4

Actual flight time and flight time by mission planning s"

时间 UAV1 UAV2 UAV3 UAV4
实际 297.1 304.3 100.2 236.5
规划 301.9 309.1 105.7 240.9

Fig.6

Quality score for three given algorithms based on different weight coefficient in the case which involves 4 UAVs and 3 targets"

Fig.7

Quality score for three given algorithms based on different weight coefficient in the case which involves 8 UAVs and 6 targets"

Fig.8

Convergence rate for three given algorithms in the case which involves 4 UAVs and 3 targets"

Fig.9

Convergence rate for three given algorithms in the case which involves 8 UAVs and 6 targets"

[1] Sujit P B, Kingston D, Beard R. Cooperative forest fire monitoring using multiple UAVs [C]//IEEE Conference on Decision and Control, New Orleans, Louisiana,USA, 2007: 4875-4880.
[2] Rathinam S, Sengupta R, Darbha S . A resource allocation algorithm for multivehicle systems with nonholonomic constraints[J]. IEEE Trans Autom Sci Eng, 2007,4(1):98-104.
doi: 10.1109/TASE.2006.872110
[3] Ponda S S, Johnson L B, Geramifard A , et al. Cooperative Mission Planning for Multi-UAV Teams[M]. Netherlands:Springer, 2015: 1447-1490.
[4] 沈林成, 陈璟, 王楠 . 飞行器任务规划技术综述[J]. 航空学报, 2014,35(3):593-606.
doi: 10.7527/S1000-6893.2013.0500
Shen Lin-cheng, Chen Jing, Wang Nan . A survey on task planing technology for aircraft[J]. Acta Aeronautica et Astronautica Sinica, 2014,35(3):593-606.
doi: 10.7527/S1000-6893.2013.0500
[5] Chandler P R, Pachter M, Swaroop D, et al. Complexity in UAV cooperative control [C]//American Control Conference, IEEE, Anchorage,Alaska,USA, 2002: 1831-1836.
[6] Woosley B, Dasgupta P. Multi-robot task allocation with real-time path planning [C]//Proceedings of the Twenty-Sixth International Florida Artificial Intelligence Research Society Conference (FLAIRS-26 Conference), St. Pete Beach, FL, USA, 2013: 574579.
[7] Arsie A, Savla K, Frazzoli E . Efficient routing algorithms for multiple vehicles with no explicit communications[J]. IEEE Transactions on Automatic Control, 2009,54(10):2302-2317.
doi: 10.1109/TAC.2009.2028954
[8] Moon S, Oh E, Shim D H . An integral framework of task assignment and path planning for multiple unmanned aerial vehicles in dynamic environments[J]. Journal of Intelligent & Robotic Systems, 2013,70(1-4):303-313.
doi: 10.1007/s10846-012-9740-3
[9] Rasmussen S J, Shima T . Tree search algorithm for assigning cooperating UAVs to multiple tasks[J]. International Journal of Robust and Nonlinear Control, 2008,18(2):135-153.
doi: 10.1002/rnc.1257
[10] Shima T, Rasmussen S J, Sparks A G , et al. Multiple task assignments for cooperating uninhabited aerial vehicles using genetic algorithms[J]. Computers & Operations Research, 2006,33(11):3252-3269.
doi: 10.1016/j.cor.2005.02.039
[11] Edison E, Shima T . Integrated task assignment and path optimization for cooperating uninhabited aerial vehicles using genetic algorithms[J]. Computers & Operations Research, 2011,38(1):340-356.
doi: 10.1016/j.cor.2010.06.001
[12] Deng Q, Yu J, Wang N . Cooperative task assignment of multiple heterogeneous unmanned aerial vehicles using a modified genetic algorithm with multi-type genes[J]. Chinese Journal of Aeronautics, 2013,26(5):1238-1250.
doi: 10.1016/j.cja.2013.07.009
[13] Zhang X, Chen J, Xin B , et al. A memetic algorithm for path planning of curvature-constrained UAVs per-forming surveillance of multiple ground targets[J]. Chinese Journal of Aeronautics, 2014,27(3):622-633.
doi: 10.1016/j.cja.2014.04.024
[14] Michalewicz Z, Fogel D B . How to Solve It: Modern Heuristics[M]. Berlin:Berlin Springer Science & Business Media, 2013.
[15] Schaefer R. Foundations of Global Genetic Optimization[M]. Berlin: Springer Publishing Company, Incorporated, 2007.
[16] 楚拉多斯·怀特·尚穆加韦尔 . 无人机协同路径规划[M]. 北京: 国防工业出版社, 2011.
[17] Dubins L E . On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents[J]. American Journal of Mathematics, 1957,79(3):497-516.
doi: 10.2307/2372560
[18] Yoav Gottlieb, Tal Shima . UAVs task and motion planning in the presence of obstacles and prioritized targets[J]. Sensors, 2015,15:29734-29764.
doi: 10.3390/s151129734 pmid: 4701357
[19] Beard R W, McLain T W . Small Unmanned Aircraft: Theory and Practice[M]. New Jersey: Princeton University Press, 2012.
[20] Nelson D, Barber B, McLain T, et al. Vector field path following for small unmanned aerial vehicles [C]//Proceedings of the American Control Conference, Minneapolis, Minnesota, 2006: 5788-5794.
[21] Interval Zero. RTX development guide[EB/OL].[2017-04-30]..
[1] LI Ai-juan,LI Shun-ming,ZHAO Wan-zhong,SHEN Huan,JIANG Xing-xing,
QIU Xu-yun,WANG Hui-jun. Optimal control theory based trajectory generation method for intelligent vehicle [J]. 吉林大学学报(工学版), 2014, 44(5): 1276-1282.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] Liu Qing-min，Wang Long-shan，Chen Xiang-wei，Li Guo-fa. Ball nut detection by machine vision[J]. 吉林大学学报(工学版), 2006, 36(04): 534 -538 .
[2] Li Yue-ying，Liu Yong-bing，Chen Hua . Surface hardening and tribological properties of a cam materials[J]. 吉林大学学报(工学版), 2007, 37(05): 1064 -1068 .
[3] Qu Zhao-wei，Chen Hong-yan，Li Zhi-hui，Hu Hong-yu，Wei Wei . 2D view reconstruction method based on single calibration pattern
[J]. 吉林大学学报(工学版), 2007, 37(05): 1159 -1163 .
[4] Wang Chao,Song Ke-zhu,Tang Jin . High performance data acquisition system for marine seismic survey[J]. 吉林大学学报(工学版), 2007, 37(01): 168 -172 .
[5] Bao Tie，Liu Shu-fen . Network fault management formal description based on Communication Sequential Processes （CSP）[J]. 吉林大学学报(工学版), 2007, 37(01): 117 -120 .
[6] Xu Si-chuan,Li Rong-qing,Cheng Qin,Guo Ying-nan,Zhang Ji-peng,Sun Ji-mei,Wang Yong-fu . Influence of boundary condition on combustion of ethanol HCCI engine[J]. 吉林大学学报(工学版), 2007, 37(01): 74 -78 .
[7] Shen Chuan-liang，Liu Guo-jun，Dong Jing-shi，Yang Zhi-gang，Cheng Guang-ming . Piezoelectric multi-vibrator and single-chamber pump for precise drug delivery[J]. 吉林大学学报(工学版), 2007, 37(01): 89 -94 .
[8] Shao Bao-dong Sun Zhao-wei,Wang Li-feng . Optimization design of structural size of microchannel cooling heat sink[J]. 吉林大学学报(工学版), 2007, 37(02): 313 -0318 .
[9] Yang Wen, Shi Yong-jiu, Wang Yuan-qing, Shi Gang . Threedimensional finite element analysis on welding residual
stresses of construction steel[J]. 吉林大学学报(工学版), 2007, 37(02): 347 -0352 .
[10] Qian Zhi-rui，Li Ming-zhe，Sun Gang,Tan Fu-xing,Jin Wen-ji . Numerical simulation on the process of sphere surface
multistep multipoint forming [J]. 吉林大学学报(工学版), 2007, 37(02): 338 -0342 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd