多目标跟踪的飞行器集群协同实时任务分配策略  

Collaborative Real-time Task Allocation for Multi-target Tracking Aerial Vehicle Cluster

作　　者：王厚鹏[1,2] 曹素芝 闫蕾[1] 吴少俊[1] Wang Hou-peng;Cao Su-zhi;Yan Lei;Wu Shao-jun(Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences,Beijing,100094;University of Chinese Academy of Sciences,Beijing,100049)

机构地区：[1]中国科学院空间应用工程与技术中心,北京100094 [2]中国科学院大学,北京100049

出　　处：《导弹与航天运载技术》2020年第3期32-37,共6页Missiles and Space Vehicles

摘　　要：针对跟踪过程中,多动态目标优先级变化引起的飞行器任务实时重分配问题,提出了一种飞行器集群智能自组织控制方案。该方案基于飞行器集群组网和集群协同计算技术,实现分布式集群实时控制与协同任务分配,以保证对多目标的实时跟踪。针对跟踪目标优先级变化的场景,提出了具有双向选择机制的合同网改进算法,能够解决突发情况导致的飞行器集群任务实时分配问题。最后进行仿真验证,实验结果表明,该方案能够提高飞行器集群的协商效率,减少通信频率,提升任务分配的时效性。The collaborative tracking of multiple dynamic targets by aerial vehicle cluster has become a research hotspot in recent years.Aiming at the problem of real-time reallocation of tasks caused by the change of priority of multiple dynamic targets during the tracking process,an intelligent self-organizing control scheme for aerial vehicle clusters is proposed.Based on the aerial vehicle cluster networking and cluster collaborative computing technology,this solution implements the real-time control of distributed cluster and the collaborative allocation of tasks.The contract net algorithm with a two-way selection mechanism for the scenario of multi-target priority change is improved.It can quickly handle the real-time collaborative allocation of tasks.Finally,simulation verification is performed.The experimental results show that the proposed scheme can improve the negotiation efficiency of the aerial vehicle cluster,reduce the communication frequency,and improve the timeliness of task assignment.

关 键 词：合同网算法 飞行器集群 任务分配 动态目标 

分 类 号：V448[航空宇航科学与技术—飞行器设计]