The pseudocode of the GA-based optimization algorithm.

<p>The pseudocode of the GA-based optimization algorithm.</p

Dubins path.

<p>Dubins path.</p

The pseudocode of target mutation operator.

<p>The pseudocode of target mutation operator.</p

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind

<div><p>Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided.</p></div

UAV flight time in different visiting orders and different winds.

<p>UAV flight time in different visiting orders and different winds.</p

Effect of crossover and mutation probabilities on the results of the algorithm under different population sizes “Table in S2 Table”.

<p>Effect of crossover and mutation probabilities on the results of the algorithm under different population sizes “Table in <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0194690#pone.0194690.s002" target="_blank">S2 Table</a>”.</p

Parameter settings.

<p>Parameter settings.</p

The pseudocode of crossover operator.

<p>The pseudocode of crossover operator.</p

Relationship between speed vectors.

<p>Relationship between speed vectors.</p

Optimal flight path for visiting three targets in a windless environment.

<p>Optimal flight path for visiting three targets in a windless environment.</p