Multiple UAV formations delivery task planning based on a distributed adaptive algorithm.

In this paper, six-rotor UAVs are used in the field of distribution to realize the delivery of materials arriving the demand point by UAVs. Due to the small load capacity of the six-rotor UAV, in response to actual demand, the UAV group will be used to complete the delivery task. Considered to be close to the real requirements, trajectory constraints and dynamic obstacles are established in the trajectory planning based on group perception range. In order to better deal with dynamic obstacles and related constraints, this paper designs a distributed adaptive algorithm based on individual decision-making and group decision-making. Individual decision-making is embodied in the intelligence and adjustment of UAVs, involving actor-critic methods, artificial potential field method ideas and probability finite state machines; group decision-making is embodied in the leadership mechanism and joint decision-making; self-adaptation is embodied in the adaptive adjustment of UAV level in group. In order to avoid collisions between UAV groups, a conflict resolution algorithm is designed. Through simulation analysis, the distributed adaptive algorithm proposed in this paper can not only satisfy all constraints, avoid dynamic obstacles stably, and complete tasks with small fluctuations, but also obtain the most successful decision-making UAV in the group. This article further analyzes and discusses the relevant parameters in the algorithm, and obtains the optimal parameter ranges in individual decision-making and group decision-making.