A Reconnaissance Task Allocation Algorithm for Air-Ground Heterogeneous Unmanned System
Aiming at the reconnaissance task allocation of air-ground heterogeneous unmanned system,this paper proposes a two-stage mixed task assignment(TMTA)algorithm for reconnaissance tasks and communication relay tasks.An alternative set of reconnaissance position and communication relay position are constructed based on the reconnaissance distance,communication relay distance and target position.An reconnaissance and communication relay tasks dispatching model is built by taking the task timeliness and path cost as the objective functions,in which the combining reconnaissance/communication relay task completion constraints,coupling constraints between task location selection/task execution time and task paths,and path continuity constraints,etc.,are considered.To solve the nonlinearity of the model,the advantages of set coverage algorithm,Hungarian algorithm,and genetic algorithm are synthesized to design a TMTA algorithm,which realizes the efficient solution of the model.The proposed method is validated through experiment.The experimental results show that the proposed algorithm outperforms the baseline dispatching algorithm in terms of task timeliness and path cost.
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