受限通信下多基地多无人机协同搜索多目标任务规划问题

针对多无人机协同搜索多目标的多旅行商航路规划问题(multiple traveling salesman problem，MTSP)，建 立一种多目标、多基地、目标有通信限制的多无人机协同侦察任务规划模型。考虑完成任务所需时间、总搜索路径 长度及任务均衡性，利用量子遗传算法进行优化；针对侦察目标受通信类型限制模拟仿真。结果表明，该模型能得 到完成侦察任务的最优航线。

Multi-target Mission Planning for Multi-UAV Cooperative Search in Multi-base Systems with Limited Communication

Aiming at the multiple traveling salesman problem (MTSP) of multiple unmanned aerial vehicles (UAVs) cooperative searching for multiple targets, a mission planning model of multiple UAVs cooperative reconnaissance with multiple targets, multiple bases and communication constraints is established. Considering the time required to complete the task, the length of the total search path and the balance of the task, the quantum genetic algorithm is used to optimize it. The simulation is carried out for the reconnaissance target limited by the communication type. The results show that the model can obtain the optimal route to complete the reconnaissance mission.