سال انتشار: ۱۳۸۹
محل انتشار: دهمین همایش انجمن هوافضای ایران
تعداد صفحات: ۵
Reza Zohrabi – Department of Mechanical Engineering, University of Tehran
Esmaeel KhanMirza – Department of Mechanical Engineering, University of Tehran
Aghil Yousefi Koma – Advanced Dynamic and Control Systems Laboratory, University of Tehran
This paper addresses the problem of task allocation for UAVs in an environment with a fuel station that considers fuel limitation problem. Multiple tasks are to be successively performed on geographically dispersed targets i.e. the targets must be classified, attacked, and verified as destroyed. We generate a tour of optimal assignments for each vehicle using a Mixed Integer Linear Programming, or MILP format. In this paper, we assume that some of air vehicles don’t have sufficient endurance, so they have to use a fuel station, placed in the area, to refill their fuel tanks and then, they return back to the area of operation to perform unaccomplished tasks. With this extension, we increase the chance of finding an optimal solution for a long time mission or low endurance vehicles. The solution of the MILP assigns all tasks to the vehicles and performs the scheduling in an optimal manner and also finds the time of going to fuel station, if UAVs don’t have sufficient fuel to keep doing their tasks.