Communication Relay Tasks Planning Algorithm for Multiple Unmanned Aerial Vehicles

With the progress and development of technology, the application of unmanned aerial vehicles (UAV s) has been greatly expanded. UAV s can be seen in agriculture, military, and express delivery industries. Now, UAVs performing various search, reconnaissance, and communication tasks in urban environments have become a hot research topic. For communication relay tasks, this paper proposes an iterative search optimization algorithm based on a time matrix to solve the task planning problem of multiple UAV s. Firstly, the rapidly-exploring random tree algorithm is used to construct the distance matrix between tasks. Then, the distance matrix is converted into multiple time matrices based on the speed of the UAV s. Secondly, the iterative search optimization algorithm is used to plan the task sequence of the UAV s. The constructed time matrices participate in the decoding and constraint judgment process. Finally, different scale instances are designed for experiments to compare the performance of the algorithms.