信息重传与丢包补偿的多无人机分布式任务分配方法  

Distributed Task Allocation Algorithm for Multiple Unmanned Aerial Vehicle Based on Information Retransmission and Package Loss Compensation

作　　者：曹严 龙腾[1,2] 孙景亮 周禹泽 CAO Yan;LONG Teng;SUN Jingliang;ZHOU Yuze(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401120,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]北京理工大学重庆创新中心,重庆401120

出　　处：《兵工学报》2023年第9期2697-2708,共12页Acta Armamentarii

基　　金：北京市自然科学基金项目(4214077);国家自然科学基金项目(62003036);北京理工大学青年教师学术启动计划项目(XSQD-202201005)。

摘　　要：针对通信丢包导致的多机分布式任务分配方法收敛速度慢、通信负载高等问题,提出信息重传与丢包补偿的分布式任务分配方法。设计机间信息重传机制,各机依据通信状态调整任务信息重传次数,有效降低数据丢包概率。给出考虑信息重传下分配算法收敛迭代规律,证明了重传机制对分配算法收敛的增速效果。为进一步降低通信冗余,提出丢包估计分布式任务分配(LE-DTA)算法,利用估计信息补偿丢包数据参与分布式任务分配过程,降低了机间通信传输需求,并证明了LE-DTA算法的收敛性。仿真对比结果表明:信息重传机制改进的一致性束算法(CBBA)能够有效提升算法收敛速度,但机间通信负载较高;LE-DTA算法在高丢包率、低网络拓扑连通度场景下具有明显的性能优势。To address issues such as rapid convergence and communication burden caused by communication package loss,a distributed task allocation algorithm based on information retransmission and package loss compensation is proposed.An inter-UAV information retransmission mechanism is designed.Each UAV adjusts the number of task information retransmissions according to the communication quality,effectively reducing the probability of package loss.The convergence iteration rule of the allocation algorithm with the retransmission mechanism is raised,and the acceleration effect of the retransmission mechanism on the algorithm's convergence is proved.The loss estimation distributed task allocation(LE-DTA)algorithm is proposed to further reduce communication redundancy.The estimation information is used to compensate for lost packages to participate in the distributed task allocation process,which lowers the communication requirements between UAVs.The convergence of the LE-DTA algorithm is then proved.The simulation comparison results show that the improved Consensus-Based Bundle Algorithm(CBBA)with the information retransmission mechanism can effectively accelerate the convergence process,but the disadvantage is the high communication load between UAVs,while the LE-DTA has obvious performance advantages in high package loss rates and low network connectivity scenarios.

关 键 词：无人机 分布式任务分配 通信丢包 数据补偿 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]