Aiming at the distributed task planning problem of heterogeneous unmanned systems in multi-domain combat missions,firstly,a multi-domain combat mission allocation model considering such conditions as time window constraints,path constraints and others is established;secondly,the mission allocation problem of heterogeneous unmanned systems is solved based on the consensus-based bundle algorithm;finally,the consensus-based bundle algorithm is extended by using Bezier curve and particle swarm optimization algorithm,and path planning is coupled to the mission allocation process.The simulation results show that the extended consensus-based bundle algorithm can synchronously obtain the conflict-free mission allocation solution and path planning results of the unmanned system in multi-domain operations,its applicability in the mission planning of unmanned systems in multi-domain operations is verified.
维普
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