通信约束下异构多无人机任务分配方法  

Communication-constrained task allocation of heterogeneous UAVs

作　　者：陈璞[1] 严飞 刘钊[2] 成果达[1] CHEN Pu;YAN Fei;LIU Zhao;CHENG Guoda(AVIC Xi'an Flight Automatic Control Research Institute,Xi'an 710076,China;Chinese Flight Test Establishment,Xi’an 710089,China)

机构地区：[1]航空工业西安飞行自动控制研究所,西安710076 [2]中国飞行试验研究院,西安710089

出　　处：《航空学报》2021年第8期306-319,共14页Acta Aeronautica et Astronautica Sinica

摘　　要：针对异构多无人机协同执行侦察和打击任务中,存在通信距离、时间延迟等约束条件下的局部任务分配问题,提出了一种基于合同网的分布式多无人机任务分配方法。首先建立了异构集群发现新目标时的局部任务分配问题模型,设计了局部无人机通信网络中的信息一致性算法,实现了任务分配过程中任务发布阶段各无人机的冲突消解。设计了任务分配过程中的联盟构建和无人机资源管理方法,使联盟中各无人机能够以更加平衡的方式消耗资源。仿真结果表明,该方法能够解决通信约束下,异构多无人机执行察打任务时,所触发的针对目标打击任务的任务分配问题,且能够获得最大的系统效能。When the heterogeneous multi-UAVs are performing the missions of cooperative reconnaissance and attack,there exists the problem of local task allocation under the constraints of communication distance and time delay.In this paper,a distributed multi-UAV task allocation method is proposed based on the contract net protocol.First,an optimization model of the local task allocation when heterogeneous multi-UAVs discover a new target is established.An information consensus algorithm is designed for the local UAV communication network to solve the conflict in the task announcement process.Then,a coalition formation and resource management method are proposed,so that the UAVs in the coalition can consume the resources in a more balanced way.Simulation results show that the proposed method can effectively solve the problem of task allocation of heterogeneous multi-UAV reconnaissance and attack mission under communication constraints,and can obtain the maximum system utility.

关 键 词：多无人机 异构无人机 任务分配 通信约束 合同网 

分 类 号：V249[航空宇航科学与技术—飞行器设计]