地震灾区中继无人机群组角色指派研究  

Group Role Assignment of Relay UAVs in Earthquake-stricken Areas

作　　者：刘冬宁[1] 曾思敏 陈凌丰 吴诗珏 LIU Dongning;ZENG Simin;CHEN Lingfeng;WU Shijue(School of Computer Science and Technology,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学计算机学院,广东广州510006

出　　处：《工业工程》2023年第4期77-84,共8页Industrial Engineering Journal

基　　金：国家自然科学基金资助项目(62072120)。

摘　　要：地震发生后往往会导致通信中断,快速建立和恢复稳定可靠的通信网络是灾区救援的重要任务.无人机可以跨越地理限制作为通信中继快速组网,因此基于群组角色指派对非饱和式救援时期的无人机灾区中继任务分配进行研究.首先利用最小生成树构建通信网络,群组角色指派进行任务最优化分配.由于受机械与电气特性限制,无人机飞行时存在水平与垂直误差,因此直线航距不能作为模型评价的主要依据.对此,设计高效的贪心回溯算法,以尽可能减少误差纠正次数为目标,求解无人机飞行轨迹,并依此建立代价矩阵.实验结果表明,在群组角色指派建模体系下,航迹规划算法与分配算法快速可靠,能高效并精确地部署通信网络,对无人机执行灾区中继救援任务形成重要支撑.Earthquakes often lead to communication interruptions,so it is an important task in disaster relief to establish and restore a stable and reliable communication network quickly.UAVs can serve as mobile relays for rapid networking across geographical constraints.Therefore,this paper studies the allocation problem of relay UAVs in disaster areas during unsaturated rescue periods based on group role assignment.A communication network with a minimum spanning tree is constructed and the optimal task assignment is conducted through group role assignment.However,due to the limitations of mechanical and electrical characteristics,there are horizontal and vertical errors during UAVs’flight,leading to that the straight-line flight distance cannot be used as the main basis for model evaluation.To this end,this paper designs an efficient greedy backtracking algorithm with the objective of minimizing the number of error corrections,solving the flight trajectories of UAVs.Based on it,a cost matrix is established.Experimental results show that the flight trajectory planning and assignment algorithms are efficient and reliable based on the group role assignment modeling system.It can effectively and accurately deploy the communication network,which can give an important support for UAVs to serve as mobile relays in disaster relief.

关 键 词：地震灾区救援 中继无人机 角色协同 群组角色指派 航迹规划 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]