基于改进合同网的异构无人机协同对地任务分配  

Collaborative Task Assignment of Heterogeneous uav based on Improved Contract Network

作　　者：廖承城 陶伟[2] 刘韬[1] LIAO Chengcheng;TAO Wei;LIU Tao(College of Computer Science,Sichuan University,Chengdu 610065;China Ship Research and Design Center,Wuhan 430064)

机构地区：[1]四川大学计算机学院,成都610065 [2]中国舰船研究设计中心,武汉430064

出　　处：《现代计算机》2021年第15期100-107,共8页Modern Computer

摘　　要：针对异构多无人机任务分配问题中存在的资源不均衡、实时性低、整体效能低等不足,本文结合多无人机协同作战特点以及实际作战需求,提出一种改进的合同网任务分配方法。首先,根据任务约束、环境约束以及无人机自身性能约束等多方面的约束构建多无人机任务分配模型,优化传统合同网算法流程;然后,设计贴切实际需求的效能函数和约束条件,引入负载均衡机制;最后,在每一次任务重分配时增加任务买卖和交换操作,从而有效提升全局负载均衡能力。通过实验结果表明,该方法增强多无人机对动态作战环境的适应能力,提升无人机作战的整体效益,能有效应对战场突发情况并进行实时任务重分配,具备有较好的扩展性。Aiming at the problems of unbalanced resources,low real-time performance,and low overall efficiency in the task allocation of multiUAVs,this paper combines the characteristics of multi-UAV cooperative operations and actual combat requirements,and proposes an im⁃proved task allocation method for contract networks.First,build a multi-UAV task allocation model according to various constraints such as task constraints,environmental constraints,and drone performance constraints,and optimize the traditional contract network algorithm process;then,design efficiency functions and constraints that meet actual needs and introduce Load balancing mechanism;finally,increase task trading and exchange operations during each task redistribution,thereby effectively improving the global load balancing capability.The experimental results show that the method enhances the adaptability of multiple drones to the dynamic combat environment,improves the overall effectiveness of drone operations,can effectively respond to battlefield emergencies and carry out real-time task redistribution,and has good expansion.

关 键 词：异构无人机 作战仿真 任务重分配 合同网 任务负载率 

分 类 号：V279[航空宇航科学与技术—飞行器设计]