Aiming at the task requirements of multi-UAV to perform multi-target collaborative reconnaissance,a collaborative optimization method of multi-machine and multi-objective task allocation and path planning is proposed.Based on the partheno genetic algorithms(PGA),a cost function combined with the actual path cost is constructed through the Dubins curve.To further reduce the calculation cost,a clustering algorithm based on UAV detection distance is proposed,and the generated clustering point is used as a new waypoint of UAV.The simulation results show that considering the dangerous area and the large number of reconnaissance points,the algorithm can effectively complete the reconnaissance task allocation of the UAV and at the same time form a preliminary route.It improves the rationality and convergence speed of task assignment,and reduces the overall cost.
维普
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