A Motif-based Mission Planning Method for UAV Swarms Considering Dynamic Reconfiguration

Abstract

Influenced by complex terrain conditions of combat environments and constrained by the level of communication technology, communication among unmanned aerial vehicles (UAV) is greatly restricted. In light of this situation, mission planning for UAV swarms under limited communication has become a difficult problem. This paper introduces motifs as the basic unit of configuration and proposes a motif-based mission planning method considering dynamic reconfiguration. This method uses multidimensional dynamic list scheduling algorithm to generate a mission planning scheme based on the motif-based swarm configuration solution. Then it incorporates order preserved operators with NSGA-III algorithm to find Pareto front solutions of all possible mission planning schemes. The feasibility of this mission planning method is validated through a case study.