Restrictions
(1) Number of UAV platforms
The restriction imposes limitations on the number of attacking UAVs on UAV platform. The number should not exceed the total number of UAVs to be allocated with
tasks on the platform.
X N 1
j¼1
x i;j N v
ð2:6Þ
(2) Attack diameter
When cluster on UAV platform executes attack tasks, diameter should be the primary
restriction to be taken into consideration, i.e., flight diameter on UAV platform must be
within the attack diameter.
x i;j l i;j 1 þ
X M i
k¼2
x i;j k l j kÀ1 j k ; j k D i
ð2:7Þ
l j kÀ1 j k refers to the distance between UAV platform and the first allocated target.
l j kÀ1 j k , j k refers to the distance between successive two targets allocated by UAV
platform. Di refers to UAV platform’s attack diameter j ¼ 1; . . .; M i
f
g .
Attack height
When cluster on UAV platform executes attack height, height should be the primary restriction to be taken into consideration, i.e., flight height on UAV platform must
be within the attack height.
x i;j H j H i
ð2:8Þ
H j refers to the height of target j; H i refers to the ascending limit of UAV platform i.
(4) Attack force
Target allocated to each UAV platform shall not exceed its attack force.
X M i
k¼1
x i;j k Attack i
ð2:9Þ
Attack i is each UAV platform’s attack load, i.e., the maximal number of tasks to be
executed.
Research on UAV Cluster’s Operation Strategy …
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