Genetic Algorithm Based Approach for Multi-UAV Cooperative Reconnaissance Mission Planning Problem

摘要

Multiple UAV cooperative reconnaissance is one of the most important aspects of UAV operations. This paper presents a genetic algorithm(GA) based approach for multiple UAVs cooperative reconnaissance mission planning problem. The objective is to conduct reconnaissance on a set of targets within predefined time windows at minimum cost, while satisfying the reconnaissance resolution demands of the targets, and without violating the maximum travel time for each UAV. A mathematical formulation is presented for the problem, taking the targets reconnaissance resolution demands and time windows constraints into account, which are always ignored in previous approaches. Then a GA based approach is put forward to resolve the problem. Our GA implementation uses integer string as the chromosome representation, and incorporates novel evolutionary operators, including a subsequence crossover operator and a forward insertion mutation operator. Finally the simulation results show the efficiency of our algorithm.