Self-organizing method for cooperative scouting and hitting task of heterogeneous multi-unmanned-aerial-vehicle system

The invention discloses a self-organizing method for a cooperative scouting and hitting task of a heterogeneous multi-unmanned-aerial-vehicle system. A heterogeneous multi-unmanned-aerial-vehicle system is decomposed into two isomorphic sub systems and a corresponding cooperative way between the two sub systems is also designed; and the two sub systems carry out task planning respectively and also carry out mutual cooperation. For an isomorphic reconnaissance type unmanned aerial vehicle system and an isomorphic scouting and hitting unmanned aerial vehicle system, a cooperative searching task self-organizing method and a cooperative scouting and hitting autonomous task planning method are designed respectively. According to the cooperative searching task self-organizing method, problem decomposition is carried out by using a method based on distributed model prediction control; and then solution is carried out by using a particle swarm algorithm. And according to the cooperative scouting and hitting autonomous task planning method, a normal flight mode without any detection of a threat and a threat avoiding mode with threat detection are designed during a local problem construction process of each unmanned aerial vehicle based on a distributed ant colony algorithm. Therefore, an on-line requirement can be met well.