Author(s)

Rongwei Cui ¹, Xiangyu Liu ¹, Liangliang Cheng ¹, Xichao Su ¹

Affiliation(s)

¹ Naval Aviation University, Yantai, China

Corresponding Author

Xichao Su

ABSTRACT

In this paper, the heterogeneous UAVs collaborative task planning problem is studied based on the resource constrained project scheduling. The main contributions and conclusions are as follows. First, the precedence constrains and resource constrains of heterogeneous UAVs collaborative task planning is analyzed, and the relevant mathematical model is established. Second, the planning method based on the resource constrained project scheduling is proposed, which is divided into the AON network establishment stage and the scheduling plan generation stage. The parallel and serial scheduling generation mechanism is presented, which are used to produce a feasible scheduling plan. Third, the proposed planning method is used to solve a mission case. The experiment result shows that the parallel scheduling generation scheme outperforms the serial one in our heterogeneous UAVs collaborative task planning problem. By conducting experiments in the case study section, the correctness of the mathematical model and the planning framework are verified.

KEYWORDS

Unmanned Aerial Vehicle, Task Planning, Project Scheduling

CITE THIS PAPER

Rongwei Cui, Xiangyu Liu, Liangliang Cheng, Xichao Su, Collaborative Task Planning Method for Heterogeneous UAVs Based on Resource Constrained Project Scheduling. Automation and Machine Learning (2025) Vol. 6: 118-126. DOI: http://dx.doi.org/10.23977/autml.2025.060114.

REFERENCES

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