基于CNP方法的多无人机实时任务分配  

Multi-UAV Real-Time Task Assignment Based on CNP

作　　者：解涛 郭建胜[1] 张晓丰[1] 余稼洋 XIE Tao;GUO Jiansheng;ZHANG Xiaofeng;YU Jiayang(Air Force Engineering University,Xi'an 710000,China)

机构地区：[1]空军工程大学,西安710000

出　　处：《电光与控制》2023年第10期102-107,119,共7页Electronics Optics & Control

摘　　要：多无人机协同任务分配因应用广泛而成为研究热点,但是通信约束的应用场景和资源消耗分配方法往往被忽略。针对上述问题,提出了一种基于合同网协议(CNP)的分布式多无人机任务分配方法,该方法分为任务发布、投标申请、联盟形成和签订合同4个步骤。在任务发布阶段,提出了自适应最大信息传递次数设置方法来限制接收者范围,减少通信负担。在联盟形成过程中,提出基于Gini系数的资源消耗分配算法,合理调节联盟中无人机间的资源差异。仿真实验和分析表明了基于CNP的任务分配方法和基于Gini系数的资源消耗分配算法的有效性。Multi-UAV cooperative task assignment is broadly applied in many fields and thus widely studied.However,the application scenarios of communication constraints and resource consumption allocation methods are often ignored.Therefore,this paper proposes a distributed multi-UAV task assignment method based on CNP to solve the above problems.This method can be divided into four steps,that is,task release,bid application,coalition formation and contract signing.In the task release stage,the adaptive setting method of maximum number of information transfer times is proposed to limit the range of recipients and reduce communication load.In the process of coalition formation,the resource consumption allocation algorithm based on the Gini coefficient is proposed to reasonably adjust the resource difference between UAVs in the coalition.The simulation results prove the effectiveness of multi-UAV task assignment method based on CNP and resource consumption allocation algorithm based on the Gini coefficient.

关 键 词：无人机 任务分配 GINI系数 CNP 通信约束 

分 类 号：V249[航空宇航科学与技术—飞行器设计]