Task Allocation for Wide Area Search Munitions with Variable Path Length

摘要

This paper addresses the problem of task allocation for wide area search munitions. The munitions are required to search for classify, attack and verify the destruction of potential targets. It is assumed that target field information is communicated between all elements of the swarm. A network flow optimization model is used to develop a linear program for optimal resource allocation. This method can be used to generate a tour of several assignments to be performed consecutively, by running the assignment iteratively and only updating the assigned task with the shortest estimated time of arrival (ETA) in each iteration. Periodically re-solving the overall optimization problem as new targets are discovered results in coordinated action by the search munitions. Variable path lengths are used to improve overall performance and prevent infeasibility. Simulation results are presented for a swarm of eight vehicles searching an area containing multiple potential targets.