Research on Cooperative Task Assignment of UAV Formation

This paper aims to achieve the goal of path planning and task assignment through cooperative control of UAV formation. In the process of research, a cooperative task assignment model for UAVs is established, and an obstacle environment model is constructed. The improved ant colony algorithm is used to optimize the path of multiple UAVs. Combined with Hungarian algorithm, task assignment for multi UAV formation is carried out. By designing the effective constraints, the evaluation function of two index functions is established by allocating the weights of the path cost and fire assignment value. Finally, through the GUI function of MATLAB software, a user independent UAV formation task assignment simulation platform is developed. Simulation results show the effectiveness of the proposed method.