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http://dx.doi.org/10.5139/JKSAS.2010.38.5.427

Task Assignment of Multiple UAVs using MILP and GA  

Choi, Hyun-Jin (서울대학교 기계항공공학부 대학원)
Seo, Joong-Bo (서울대학교 기계항공공학부 대학원)
Kim, You-Dan (서울대학교 기계항공공학부)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.38, no.5, 2010 , pp. 427-436 More about this Journal
Abstract
This paper deals with a task assignment problem of multiple UAVs performing multiple tasks on multiple targets. The task assignment problem of multiple UAVs is a kind of combinatorial optimization problems such as traveling salesman problem or vehicle routing problem, and it has NP-hard computational complexity. Therefore, computation time increases as the size of considered problem increases. To solve the problem efficiently, approximation methods or heuristic methods are widely used. In this study, the problem is formulated as a mixed integer linear program, and is solved by a mixed integer linear programming and a genetic algorithm, respectively. Numerical simulations for the environment of the multiple targets, multiple tasks, and obstacles were performed to analyze the optimality and efficiency of each method.
Keywords
UAV; Task Assignment; Combinatorial Optimization; Mixed Integer Linear Programming; Genetic Algorithm;
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