Unmanned aerial vehicle cluster task planning method based on dubins direction angle model

The invention discloses an unmanned aerial vehicle cluster task planning method based on a dubins direction angle model. The method comprises the steps that the dubins direction angle model is established; obtaining coordinate information of a target task point, combining a dubins direction angle model with a multi-traveling salesman problem, and establishing an unmanned aerial vehicle cluster task planning mathematical model meeting a shortest flight path requirement; and performing optimization solution on the unmanned aerial vehicle cluster task planning mathematical model, and outputting an optimal scheme of unmanned aerial vehicle cluster task planning. According to the method, under the condition that the calculated amount is not increased, the problem that the unmanned aerial vehicles fly around due to the fact that the distance between task points is short in the task planning process is effectively solved, and the unmanned aerial vehicle formation can safely and efficiently complete team tasks on the