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Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (6): 1190-1207.doi: 10.23919/JSEE.2022.000142

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  • 收稿日期:2021-03-15 出版日期:2022-12-18 发布日期:2022-12-24

A multiple heterogeneous UAVs reconnaissance mission planning and re-planning algorithm

Lei HU1(), Boqi XI1(), Guoxing YI1,*(), Hui ZHAO1(), Jiapeng ZHONG2()   

  1. 1 School of Astronautics, Harbin Institute of Technology, Harbin 150000, China
    2 HIT (Anshan) Institute of Industrial Technology, Harbin Institute of Technology, Anshan 114000, China
  • Received:2021-03-15 Online:2022-12-18 Published:2022-12-24
  • Contact: Guoxing YI E-mail:maple_hsjz@163.com;xiboqi@163.com;ygx@hit.edu.cn;zhaohui@hit.edu.cn;zhong-j-p@163.com
  • About author:
    HU Lei was born in 1993. He received his M.S. degree from Harbin Institute of Technology in 2018. He is pursuing his Ph.D. degree in Harbin Institute of Technology. His research interests include weapon system combat effectiveness and decision-making. E-mail: maple_hsjz@163.com

    XI Boqi was born in 1978. He received his Ph.D. degree from Harbin Institute of Technology, Harbin, China. He is an associate professor in Harbin Institute of Technology. His research interests include the mechanism and application of hemispherical resonance gyro, and the research of inertial and integrated navigation. E-mail: xiboqi@163.com

    YI Guoxing was born in 1974. He received his Ph.D. degree from Harbin Institute of Technology, Harbin, China. He is a professor in Harbin Institute of Technology. His research interests include UAV system and application technology, the mechanism and application of hemispherical resonance gyro, and the research of inertial and integrated navigation. E-mail: ygx@hit.edu.cn

    ZHAO Hui was born in 1971. He received his Ph.D. degree from Harbin Institute of Technology, Harbin, China. He is a professor in Harbin Institute of Technology. His research intesests include electric drive and high-performance servo drive control, and driving and control of ultrasonic actuator. E-mail: zhaohui@hit.edu.cn

    ZHONG Jiapeng was born in 1986. He received his Ph.D. degree from Harbin Institute of Technology, Harbin, China in 2016. He is an engineer in Industrial Technology Research Institute of Harbin Institute of Technology (Anshan). His research interests include UAV system and application technology, the mechanism and application of hemispherical resonance gyro, and the research of inertial and integrated navigation. E-mail: zhong-j-p@163.com

Abstract:

Reconnaissance mission planning of multiple unmanned aerial vehicles (UAVs) under an adversarial environment is a discrete combinatorial optimization problem which is proved to be a non-deterministic polynomial (NP)-complete problem. The purpose of this study is to research intelligent multi-UAVs reconnaissance mission planning and online re-planning algorithm under various constraints in mission areas. For numerous targets scattered in the wide area, a reconnaissance mission planning and re-planning system is established, which includes five modules, including intelligence analysis, sub-mission area division, mission sequence planning, path smoothing, and online re-planning. The intelligence analysis module depicts the attribute of targets and the heterogeneous characteristic of UAVs and computes the number of sub-mission areas on consideration of voyage distance constraints. In the sub-mission area division module, an improved K-means clustering algorithm is designed to divide the reconnaissance mission area into several sub-mission areas, and each sub-mission is detected by the UAV loaded with various detective sensors. To control reconnaissance cost, the sampling and iteration algorithms are proposed in the mission sequence planning module, which are utilized to solve the optimal or approximately optimal reconnaissance sequence. In the path smoothing module, the Dubins curve is applied to smooth the flight path, which assure the availability of the planned path. Furthermore, an online re-planning algorithm is designed for the uncertain factor that the UAV is damaged. Finally, reconnaissance planning and re-planning experiment results show that the algorithm proposed in this paper are effective and the algorithms designed for sequence planning have a great advantage in solving efficiency and optimality.

Key words: reconnaissance mission planning, sequence planning, path smoothing, combination optimization