摘要
针对异构多无人机执行侦察、攻击等多任务时的分配问题,提出带有时间窗的基于共识的捆绑算法(WCBBA),该算法解决了基于任务时间窗以及无人机载弹限制约束条件下的多无人机任务分配问题。首先,基于约束条件建立了异构多无人机任务分配模型,设计了任务收益函数以及由于飞行距离所产生的折扣函数;其次,利用算法对多无人机执行侦察、攻击任务的分配模型进行求解。仿真结果表明,算法能够成功、高效地解决任务分配过程中的冲突问题,完成最优化的任务分配,对多任务条件下的异构多无人机协同作战任务分解具有一定的理论意义和实用价值。
Aiming at the task allocation problem when multiple heterogeneous UAVs perform multiple tasks such as reconnaissance and attack a Windows Consensus-Based Bundle Algorithm(WCBBA)is proposed.The algorithm solves the problem of multi-UAV task allocation based on the constraints of task time window and UAV loading limit.Firstly the task allocation model of multiple heterogeneous UAVs is established based on the constraints and the task revenue function and the discount function due to flight distance are designed.Secondly the algorithm is used to solve the allocation model of reconnaissance and attack tasks of multiple UAVs.The simulation results show that the algorithm can successfully and efficiently resolve the conflict in the process of task allocation and realize the optimal task allocation.It has certain theoretical and practical value for multi-task decomposition in the cooperative operation of multiple heterogeneous UAVs.
作者
魏兆恬
赵晓林
李俊涛
纪良杰
WEI Zhaotian;ZHAO Xiaolin;LI Juntao;JI Liangjie(Air Force Engineering University Graduate School,Xi’an 710000 China;Air Force Engineering University Equipment Management and UAV Engineering College,Xi’an 710000 China)
出处
《电光与控制》
CSCD
北大核心
2022年第8期17-22,共6页
Electronics Optics & Control
