Tasks Assignment of Cooperative Unmanned Aerial Vehicles in Dynamic Environment with Moving Targets Using a Fuzzy Heuristic Linear Programming Approach

Recent developments in control and the use of automatic agents result in attracting attention to the cooperative systems and their abilities in performing efficient missions. Optimal task assignment of multiple cooperative agents is among the most important factors in effective performing of robots and UAVs' cooperative missions. Uncertainty and dynamic conditions are some of the most essential criteria during the simulation of mechanical phenomena.In this paper, the task assignment of a fleet of cooperative heterogeneous UAVs in a dynamic environment including moving targets was examined. An appropriate architecture was applied by using a hierarchical mixed-integer linear programming in order to solve task assignment problems within the reasonable range. To enhance the outlook of solution architecture and therefore achieving some near optimum assignments, a combination of the proposed architecture and a TSK-type Fuzzy inference system was introduced. The results approved a conflict-free and optimal solution in the task assigning problems. Efficiency increase of the proposed innovative architecture in existence of Fuzzy inference systems ranges from 10 to 35 percent. In order to evaluate the proposed approach in experimental and practical terms, a user panel has been designed and used and with the help of this panel, the capability of practical implementation of this approach has been presented.