基于一致性群组算法的多无人机自主协同任务分配  

Multi-UAV Autonomous Cooperative Task Assignment Based on Consistent Group Algorithm

作　　者：马云红[1] 刘云昊 杨誉乔 王鼎涵 张健[1] MA Yunhong;LIU Yunhao;YANG Yuqiao;WANG Dinghan;ZHANG Jian(Northwestern Polytechnical University,Xi’an 710072,China;Beihang University,Beijing 100191,China)

机构地区：[1]西北工业大学,西安710072 [2]北京航空航天大学,北京100191

出　　处：《无人系统技术》2021年第4期51-58,共8页Unmanned Systems Technology

基　　金：航空基金(20200020053002);大学生创新创业训练项目(S202010699026,S202010699283)。

摘　　要：多无人机自主协同是当前无人机参与空战的趋势,无人机具有基于信息共享的自主任务分配能力对提高其自主作战能力具有重大意义。首先,采用基于竞拍的一致性算法解决单个无人机完成单个任务的任务分配问题。其次,采用基于一致性的拍卖包算法解决单个无人机完成多个任务的分配问题。然后提出了一致性的群组算法,解决了多无人机到多任务的任务分配,特别是需要多无人机形成联盟执行某个复杂任务的分配问题。最后,引入的时间窗口限制不仅可以确保多无人机的联盟同时到达任务,而且还保证在相应的时间要求中完成不同的任务。仿真表明,提出的算法在解决不同类型任务的分配方面是有效的,且适用于多无人机间的自主协作。Multi-UAVs autonomous cooperation is the current trend of UAVs participating in the air combat.In order to improve the autonomous capabilities of UAVs,UAVs are required to have the capability of autonomous task allocation based on information sharing.The real-time task assignment is studied using consistency algorithm based on bidding.Firstly,the Consensus Based Auction Algorithm(CBAA)is used to solve the problem of single-UAV to single task.Secondly,the Consensus Based Bundle Algorithm(CBBA)is used to solve the problem of task assignment of single UAV to multi-tasks.Then the Consensus-Based Group Algorithm with Time Window(CBGA-TW)is proposed to solve the task allocation of multi-UAVs to multi-tasks,which resolves the task allocation issues requiring multi-UAVs to form alliance to execute a complicate mission under the time window limit.Finally,the introduction of time window restrictions not only ensures that the UAVs’alliance arrive the task simultaneously,but also guarantees that different tasks are completed in the corresponding time requirement.Simulation demonstrates that the algorithm proposed by the paper is effective in solving the different types of task assignment issues,and the algorithm is useful to make the multi-UAVs achieve autonomous collaboration.

关 键 词：任务分配 基于一致性算法 任务联盟 时间窗限制 自主协同 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]