面向协同任务的多UCAV分布式任务分配与协调技术  

Distributed Task Allocation & Coordination Technique of Multiple UCAVs for Cooperative Tasks

作　　者：龙涛[1] 沈林成[1] 朱华勇[1] 牛轶峰[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《自动化学报》2007年第7期731-737,共7页Acta Automatica Sinica

基　　金：国家973基础研究(5130801)资助~~

摘　　要：对多架无人作战飞机(Unmanned combat aerial vehicle,UCAV)分布式控制中的任务分配与任务协调问题开展研究．采用合同网实现任务执行过程中的任务分配．通过对合同网进行扩展,使UCAV能够在招标和竞标的同时处理任务间的时间约束．设计了一种新的部分全局规划协商机制,能够更有效地对执行相关任务的UCAV的任务计划进行协调．通过Petri网建模方法,将两种协商机制模型化为Petri网并分析了协商过程的正确性与协商结果的可行性．仿真实验验证了方法的有效性．The task allocation and task coordination problem for multiple unmanned combat aerial vehicles （UCAVs） distributed control is studied. Firstly, the contract net is expanded to resolve task allocation during task execution process. Thus UCAVs can deal with the temporal constraints among tasks when participating in auction and bid. Then, partial global planning is improved to coordinate the task plans of the UCAVs that perform correlative tasks. The two types of negotiation mechanisms are modeled with Petri nets, and the correctness of the negotiation process and the feasibility of the negotiation result are analyzed. Simulation results demonstrate the validity of our approaches.

关 键 词：无人作战飞机 任务分配 任务协调 合同网 部分全局规划 PETRI网 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]