基于最优传输理论的无人艇编队任务分配方法  

Task assignment method for unmanned surface vessel formation based on optimal transport theory

作　　者：薛敏 权崇仁 胡正阳 王勇[2] XUE Min;QUAN Chongren;HU Zhengyang;WANG Yong(Naval Equipment Department,Beijing 100036,China;Jiangsu Automation Research Institute,Lianyungang 222061,China)

机构地区：[1]海军装备部,北京100036 [2]江苏自动化研究所,江苏连云港222061

出　　处：《指挥控制与仿真》2024年第6期92-95,共4页Command Control & Simulation

摘　　要：无人艇编队的任务分配问题是无人艇编队协同控制领域的一个重要研究问题。合理的任务分配方案将有助于无人艇编队快速决断和高效执行。现有方法在对无人艇编队的任务分配问题进行建模时,鲜有将无人艇的姿态和动力学模型纳入考虑。首先,建立带姿态的无人艇编队的任务分配问题模型;接着,通过将该模型与流形上的最优传输问题联系起来,得到离散求解形式;最后,仿真实验表明对于无人艇编队的任务分配中考虑无人艇姿态的必要性,以及提出的计算方法的有效性。The task assignment method for a large group of unmanned surface vessel(USV)is an important research problem in the field of autonomous unmanned system.Appropriate task assignment schemes will facilitate USV formation for quick decision making and efficient execution.Existing methods rarely take the attitude of USVs and their dynamic equations into considerations.This article first established a model of attitude-based task assignment problem for USV formation;next,by linking the model to the optimal transport problem on the manifold,we obtained its discrete form;finally,our simulation experiment demonstrates the necessity of considering attitude-based task assignment problem for USV formation,and the effectiveness of the method proposed in this paper.

关 键 词：最优传输理论 无人艇编队 任务分配方法 

分 类 号：E911[军事] E925.67[军事—军事装备学]