指挥控制与仿真2026，Vol.48Issue(1)：11-19,9.DOI:10.3969/j.issn.1673-3819.2026.01.002
面向多目标的无人机集群搜索任务规划方法
Multi-objective mission planning for UAV swarm search
摘要
Abstract
A phased cooperative mission planning method based on an improved parthenogenetic algorithm and enhanced RRT∗ algorithm is proposed for UAV swarm search task planning.In the task allocation phase,the multi-target assignment is modeled as a Capacitated Multiple Traveling Salesman Problem.The improved parthenogenetic algorithm incorporates Minkowski distance for path cost estimation and a dynamically adjusted mutation probability strategy to enhance global opti-mization capability.During trajectory planning,the RRT∗ algorithm is upgraded through a"semi-circular sampling+artifi-cial potential field"approach,combined with tangent arc transition method to optimize trajectory smoothness and quality.Simulation results demonstrate that compared with benchmark algorithms,the proposed method achieves a 53.2%faster task allocation speed,reduces total trajectory length by 9.2%,and generates trajectories that satisfy UAV kinematic constraints.This provides theoretical support for efficient cooperative mission planning of UAV swarms in complex battlefield scenarios.关键词
无人机集群/任务规划/多旅行商问题/孤雌遗传算法/快速随机扩展树Key words
UAVs/mission planning/MTSP/PGA/RRT分类
信息技术与安全科学引用本文复制引用
刘承卓,何明,韩伟,夏恒煜..面向多目标的无人机集群搜索任务规划方法[J].指挥控制与仿真,2026,48(1):11-19,9.基金项目
国家自然科学基金(62273356) （62273356）
高层次人才创新工程(KYZYJQJY2101) （KYZYJQJY2101）
军事类研究生重点课题(JY2023B057) （JY2023B057）
