Coupled Optimization of UAV Cluster Path Optimization and Task Assignment on a Mobile Platform

This paper focuses on the coupled optimization problem of path optimization and task assignment for UAVs mounted on mobile platforms. Combining the UAV turning angle, minimum direct flight trajectory and other flight characteristics, the path optimization model on the 3D raster map is established with the objectives of shortest flight time and minimum UAV destruction, and the optimal path between the vertices of each mission is derived by using an improved Gray Wolf Optimization algorithm. Combining the takeoff and landing time-window constraints with the range and mission resource constraints, this mission planning model is established with the objective of maximizing the efficiency ratio of mission revenue–UAV damage consumption. Combining the optimal paths between vertices, a complete UAV flight path is formed, which provides a path optimization and goal assignment method for UAV clusters mounted on mobile platforms to perform multiple tasks cooperatively, and its feasibility and effectiveness are verified through simulation experiments.