Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm

In this paper, based on the typical combat scenario where multiple UAVs strike multiple targets, the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function, and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation result. Planning layer first analyze the traditional RRT algorithm, and gets the quick and smooth convergence RRT (QS-RRT) on the basis of improved algorithm, the algorithm on the basis of adding the synergy of constraints, and makes the collaborative planning path compared with non-cooperative path planning, the planning path length in the keep basically remain unchanged, on the basis of our UAV for the same target can arriving together, The difference of arrival time is greatly reduced, and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.