Task Assignment and Planning Model of Multi-UAV Cooperative Operation Based on Fuzzy Clustering Algorithm

The rapid development of UAV technology has given birth to the demand of multi-UAV cooperative operation. However, in the face of diverse tasks and complex environment, the traditional task allocation and planning methods are limited. In order to solve this problem, this paper proposes a multi-UAV cooperative task assignment and planning model based on fuzzy clustering algorithm. Through fuzzy clustering algorithm, we can deal with the uncertainty and diversity of tasks more flexibly and improve the intelligence and adaptability of the system. In the task assignment stage of the model, fuzzy clustering algorithm is introduced to identify the similarity between tasks, thus forming fuzzy task groups. The task assignment probability is determined by the membership degree of task and cluster, and the most suitable UAV is found for each task. In the path planning stage, the model uses the clustering results for intelligent path planning, fully considers the relationship between tasks, and optimizes the route of UAV. Through simulation experiments, we verify the excellent performance of the model in task allocation accuracy and system performance. The model based on fuzzy clustering shows better adaptability in the face of different task types and environmental changes. This research provides a new idea for the intelligence of multi-UAV cooperative operation, and has important guiding significance for the performance improvement of UAV system in the future.