Multi-UAV Cooperative Patrol Task Planning Novel Method Based on Improved PFIH Algorithm

Abstract

This paper investigates the cooperative patrol task planning problems for multiple unmanned aerial vehicles by considering the patrol task requirements. A new cooperative patrol task planning approach is proposed to complete the patrol task. Firstly, the cooperative patrol task planning model for multiple unmanned aerial vehicles is established. Then, the corresponding complex constraint condition processing method with two steps is designed; that is, obtaining the initial result via Floyd algorithm firstly and then generating the optimal solution by adopting the improved Push Forward Insertion Heuristic (IPFIH) algorithm. It is proved that the proposed algorithm can obtain feasible solutions that meet all constraints and maximize the patrol payoff under the limited resources conditions. Finally, a numerical simulation is provided to demonstrate the effectiveness of the proposed cooperative patrol task planning approach.