Cooperative Multiple Task Assignment Problem With Target Precedence Constraints Using a Waitable Path Coordination and Modified Genetic Algorithm

Task assignment is a critical technology for heterogeneous unmanned aerial vehicle (UAV) applications. Target precedence has typically been ignored in previous studies, such that it possible to obtain task solution with an unreasonable target execution order. For this reason, cooperative multiple problem constraints (CMTAPTPC) model proposed paper, which considers not only kinematic, resource, and of the UAV, but also achieve more realistic scenarios. In addition, graph method improved detect eliminate deadlocks solutions include constraints. We introduced waitable path coordination (WPC) algorithm generate conflict-free flight paths. Unlike traditional elongation method, can reduce number operations save energy UAVs. Based on characteristics CMTAPTPC model, study proposes modified genetic integrates graph-based WPC solve problem. simulation, three problem-scale scenarios were designed, superior performance was demonstrated by comparing algorithm. Finally, time series diagram shows meets all illustrates rationality