Multi Task Assignment and Path Planning for Heterogenous UAVs with Flight Dynamics

Authors : Göktuğ Güngör, Gonca Yıldırım, Selçuk Kürşat İşleyen

Pages : 1359-1371

Doi:10.35414/akufemubid.1676395

View : 60 | Download : 155

Publication Date : 2025-12-03

Article Type : Research Paper

Abstract :This study addresses the cooperative multitask assignment and path planning of heterogenous UAVs with aircraft kinematics. The purpose of this study is to minimize the maximum mission time and total distance traveled by UAV fleet which execute multi-tasks in a military theatre composed of targets with air defense threat circle as well as no-fly zones. This study aims to optimize multi-objectives with structural and timing constraints. The study introduces a complex and well-structured mixed integer linear program, which successfully optimize path planning and multitask allocation of UAVs simultaneously. Contrary to common fashion in literature, the proposed model encompasses most of the real-life military requirements for UAV tactical operations, rather than leaving them as assumptions or integrating some of them by the results of commercial simulators. In terms of path planning phase, the study takes into account Dubin’s distances complying with the flight dynamics of attack and surveillance UAVs, and no-fly zones in the theater. Regarding task allocation, the model in the study satisfies task order requirements of targets such as classification, attack and verification in the respective order by avoiding deadlock caused by waiting cycles over target. Targets are threats to UAVs, so the study also considers the probability of UAV loss during the mission scenario by developing chance constraints integrated in to the model. The model is coded in Matlab, and solved by Gurobi global optimal solver successfully under predefined realistic operative scenarios.
Keywords : Heterojen İHA, rota planlama ve görev atama, Dubin’s mesafeleri, CMTAP

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