Autonomous Landing Allocation of Multiple Unmanned Aerial Vehicles on Multiple Unmanned Surface Vessels Subject to Energy Consumption

This paper proposes a distributed energy-based landing allocation method of multiple unmanned aerial vehicles (UAVs) on multiple unmanned surface vessels (USVs). First, an optimization function is established, which consists of the limited energy battery, the flight distance and the flight speed. Then, a distributed landing allocation scheme is designed to minimize the energy consumption difference. Finally, real lake experiments of multiple M-100UAVs and HUSTER-30 USVs are conducted to verify the effectiveness of the proposed method.