复杂多约束UAVs协同目标分配的一种统一建模方法  

A Unified Modeling Method of UAVs Cooperative Target Assignment by Complex Multi-constraint Conditions

作　　者：赵明[1] 苏小红[1] 马培军[1] 赵玲玲[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,哈尔滨150001

出　　处：《自动化学报》2012年第12期2038-2048,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(61175027)资助~~

摘　　要：多无人机协同目标分配(Multi-UAVs cooperative target assignment problem,MUCTAP)是一个条件复杂的多模型、多约束组合优化问题,很难用一致的方法获得可行的解.为解决该问题,本文对各种目标分配模型统一建模,设计了一致的模型处理方法;针对三维环境特点,提出利用空间垂直切面计算无人机估计航程代价的方法,并利用航程代价矩阵优化目标分配算法;同时加入协同约束关系计算,提高分配算法的准确性.仿真实验验证了该方法能够处理多种情况的目标分配问题,具有较高的通用性和准确性,能够有效完成多机协同目标分配任务.The multi-UAVs cooperative target assignment problem （MUCTAP） is a condition-complicated multi-models and multi-constraint combinatorial optimization problem, and it difficult to get a feasible solution by unified processing method. In order to solve this problem, a uniform model has been built for all kinds of unmanned aerial vehicles （UAVs） target assignment situations in this paper. We also design the unified processing method so that it can handle different types of MUCTAP. Considering the 3D environmental character, we present a method for MUCTAP by using spatially vertical section to compute the cost of flight path length, and apply the cost matrix of flight path length to optimize the target assignment algorithm. We also add the collaborative constraint relation to compute, so that it can improve the target assignment algorithmls accuracy. Simulation results show that this model can adapt to a variety of target assignment problems, and it has a high universality and accuracy. So it can effectively accomplish the task of MUCTAP.

关 键 词：协同目标分配 航程代价 目标分配模型 三维环境信息 多无人机 

分 类 号：V279[航空宇航科学与技术—飞行器设计]