Reconnaissance mission planning of multiple unmanned aerial vehicles (UAVs) under an adversarial environ-ment 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 nume-rous targets scattered in the wide area, a reconnaissance mis-sion planning and re-planning system is established, which includes five modules, including intelligence analysis, sub-mis-sion 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 consi-deration 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 recon-naissance cost, the sampling and iteration algorithms are pro-posed in the mission sequence planning module, which are uti-lized to solve the optimal or approximately optimal reconnais-sance 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-plan-ning 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 opti-mality.

HU Lei;XI Boqi;YI Guoxing;ZHAO Hui;ZHONG Jiapeng

School of Astronautics,Harbin Institute of Technology,Harbin 150000,China;HIT(Anshan)Institute of Industrial Technology,Harbin Institute of Technology,Anshan 114000,China

系统工程与电子技术（英文版）

[1]HU Lei;XI Boqi;YI Guoxing;ZHAO Hui;ZHONG Jiapeng-.A multiple heterogeneous UAVs reconnaissance mission planning and re-planning algorithm)[J].系统工程与电子技术（英文版）,2022(06):1190-1207

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