基于双层稳定匹配的异构无人机集群“分布式”协同算法  

“Decentralized”collaborative algorithm for heterogeneous UAV swarm based on bi-level stable matching

作　　者：向竹 杨志伟 杨克巍[1] 夏博远 XIANG Zhu;YANG Zhi-wei;YANG Ke-wei;XIA Bo-yuan(Colledge of Systems Engineering,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学系统工程学院,长沙410073

出　　处：《控制与决策》2022年第4期871-880,共10页Control and Decision

基　　金：国家自然科学基金项目(72071206);湖南省科技创新计划项目(2020RC4046).

摘　　要：异构无人机集群凭借其功能互补、能力协同的优势,能够适应复杂多变的战场环境、提升协同作战效能,而受到各军事强国的广泛关注并得到飞速发展.如何对异构无人机集群进行有效编组以达到良好的协同作战效果成为异构无人机集群“分布式”协同研究的重点,由此引出异构无人机集群“分布式”协同中针对异构无人机编组结构稳定性和能力协同性的优化问题.面向该问题,提出一种基于双层稳定匹配的异构无人机集群“分布式”协同算法.首先,对异构无人机集群“分布式”协同作战方式及匹配问题进行描述;然后,通过基于异构无人机之间的能力协同性构建偏好计算模型,将3类(侦察、打击、指控)无人机的三边匹配问题转化为双层-双边稳定匹配问题并构建相应的线性整数规划模型;最后,通过3组实验,验证了所提出模型与方法的有效性,相较于基准算法效率更高、效果更好,同时在大规模算例中也能实现良好的匹配效果.A heterogeneous UAVs swarm can adapt to the complex and changeable battlefield environment and improve the effectiveness of collaborative operations by virtue of their complementary functions and collaborative capabilities.Therefore,it has been widely concerned and developed rapidly by various military powers.How to effectively organize heterogeneous UAVs to achieve good cooperative effects has become the focus of the“decentralized”cooperative research of a heterogeneous UAVs swarm,which leads to the optimization problem of structural stability and capability coordination of heterogeneous UAVs grouping in“decentralized”cooperative research.To solve this problem,this paper proposes a“decentralized”collaborative algorithm for the heterogeneous UAV swarm based on bi-level stable matching.Firstly,the“distributed”cooperative operation mode and matching problem of the heterogeneous UAV swarm are described.Then,a preference computing model is constructed based on the capability cooperation among heterogeneous UAVs to transform the trilateral matching problem of three types(reconnaissance,offensive,command)UAVs into a bi-level stable matching problem and construct the corresponding linear integer programming model.Finally,through three groups of experiments,the effectiveness of the model and method proposed in this paper is verified.Compared with the benchmark algorithm,the model has higher efficiency and better effect,and it can also achieve good matching effect in large-scale examples.

关 键 词：异构无人机集群 匹配编组 稳定匹配 能力 协同性 线性整数规划模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]