부산대학교 도서관

The research on multi-UAV reconnaissance task allocation is of great significance for both military and civilian fields. Existing methods simplify targets as points and ignore the heterogeneity of shape and values. Motivated by this oversight, a reconnaissance strategy is proposed for each type of heterogeneous target. Based on the proposed strategy, the reconnaissance information revenue function is formalized considering the correlation between target and time. Additionally, the utility of UAVs depends on the revenue of information and flight costs. The Heterogeneous Target Reconnaissance Allocation (HTRA) scheme is designed to optimize the utility. Specifically, the resource matching matrix model was firstly used to realize initial allocation. Subsequently, the sequence of tasks is optimized by using the Improved Particle Swarm Optimization (IPSO) algorithm. Finally, the reconnaissance time is optimized by Gradient Projection (GP) algorithm to improve the utility of UAVs. Moreover, the HTRA scheme is expanded to HTRA+, and a communication preservation-based auction method is proposed to address limited communication in UAVs cooperation. The experiment results show that the proposed scheme outperforms existing methods in terms of reconnaissance utility and the rate of task completion.