城市环境感知场景下多无人机协同任务分配方法  

Collaborative multi-UAV task allocation method in urban environment sensing scenario

作　　者：许先哲 张强[1,2] 程强 XU Xianzhe;ZHANG Qiang;CHENG Qiang(Nanjing Research Institute of Electronics Technology,Nanjing 210039,China;National Key Laboratory of Radar Detection and Sensing,Nanjing 210039,China)

机构地区：[1]南京电子技术研究所,南京210039 [2]雷达探测感知全国重点实验室,南京210039

出　　处：《空天预警研究学报》2025年第1期56-60,共5页JOURNAL OF AIR & SPACE EARLY WARNING RESEARCH

摘　　要：针对多无人机协同探测网络中无人机部署和任务分配的联合优化问题,提出一种多无人机协同任务分配方法.首先将联合优化问题解耦为两个子问题,设计迭代优化机制;然后对两个子问题迭代优化求解,以获得原始问题的解.通过分析无人机部署性质,将其转化为一个聚类问题,提出k-均值聚类算法进行求解;对于任务分配问题,提出一种有性能下界保证的贪心策略进行求解.仿真结果表明,与其他方法相比,本文方法具有更好的性能.For the joint optimization of UAV deployment and task allocation in multi-UAV collaborative detection network,this paper proposes a multi-UAV collaborative task allocation method.Firstly,the joint optimization problem is decoupled into two sub-problems to design the iterative optimization mechanism.Then the two sub-problems are solved iteratively and optimally so as to obtain the solution of the original problem.By analyzing the nature of UAV deployment,it is rewritten as a clustering problem,and a k-means clustering algorithm is proposed to solve it.As for task allocation,a greedy strategy with performance lower bound guarantee is proposed for solution.Simulation results show that the proposed method has better performance than other methods.

关 键 词：无人机部署 任务分配协同 感知通信计算一体化 

分 类 号：TV279[水利工程]