通信延迟约束下多无人机任务指派冲突消解  

Conflict resolution in multi-UAV cooperative tasks assignment with communication delay

作　　者：符小卫[1] 冯鹏 高晓光[1] 刘重[1] FU Xiaowei;FENG Peng;GAO Xiaoguang;LIU Zhong(School of Electronics and Information,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]西北工业大学电子信息学院,陕西西安710072

出　　处：《系统工程与电子技术》2018年第7期1491-1497,共7页Systems Engineering and Electronics

基　　金：航空科学基金;航空电子系统综合技术重点实验室联合资助项目(20155553041)资助课题

摘　　要：以复杂战场环境下多无人机任务指派为研究背景,针对分布式结构下通信延迟可能导致指派冲突的问题,设计了通过设置比较阈值和对无人机(unmanned aerial vehicle,UAV)进行优先级排序的方法,以极小的通信代价预测潜在指派冲突;之后开启编队内通信,通过比较各UAV的指派方案确定当前可执行的最优任务,从而达到冲突消解的目的。通过MultiUAV2仿真平台对提出的方法进行验证。仿真结果表明,该冲突消解机制能够准确高效地预测和消解指派冲突,具有可行性与合理性;且由于采用动态的阈值设定,对不同的作战环境有较好的适用性。Under the background of multiple unmanned aerial vehicle（UAV）task assignment in complex battlefield environment,this paper proposes a method that solves the assignment conflict caused by communication delay in distributed architecture.By setting the comparison threshold and UAV priority,the possible conflict of assignment with minimal communication cost is predicted.Furtherly,by enabling the communication of formation and comparing the assignment schemes of each UAV,the optimal task that can be executed at present is determined,so as to achieve the purpose of conflict resolution.The proposed method is verified by the MultiUAV2 simulation platform.Simulation results show that the conflict resolution mechanism can predict and resolve assignment conflict accurately and efficiently,which proves its feasibility and rationality and also has good applicability to different combat environments because of adopting dynamic threshold setting.

关 键 词：多无人机 协同任务指派 分布式估计 冲突消解 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279