通信约束下异构多无人机任务分配方法

doi:10.7527/S1000-6893.2021.25844

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通信约束下异构多无人机任务分配方法

陈璞¹, 严飞¹, 刘钊², 成果达¹

1. 航空工业西安飞行自动控制研究所, 西安 710076;
2. 中国飞行试验研究院, 西安 710089

收稿日期:2021-04-15 修回日期:2021-05-08 发布日期:2021-05-31
通讯作者: 严飞 E-mail:qq231765@126.com

Communication-constrained task allocation of heterogeneous UAVs

CHEN Pu¹, YAN Fei¹, LIU Zhao², CHENG Guoda¹

1. AVIC Xi'an Flight Automatic Control Research Institute, Xi'an 710076, China;
2. Chinese Flight Test Establishment, Xi'an 710089, China

Received:2021-04-15 Revised:2021-05-08 Published:2021-05-31

摘要/Abstract

摘要： 针对异构多无人机协同执行侦察和打击任务中，存在通信距离、时间延迟等约束条件下的局部任务分配问题，提出了一种基于合同网的分布式多无人机任务分配方法。首先建立了异构集群发现新目标时的局部任务分配问题模型，设计了局部无人机通信网络中的信息一致性算法，实现了任务分配过程中任务发布阶段各无人机的冲突消解。设计了任务分配过程中的联盟构建和无人机资源管理方法，使联盟中各无人机能够以更加平衡的方式消耗资源。仿真结果表明，该方法能够解决通信约束下，异构多无人机执行察打任务时，所触发的针对目标打击任务的任务分配问题，且能够获得最大的系统效能。

关键词: 多无人机, 异构无人机, 任务分配, 通信约束, 合同网

Abstract: When the heterogeneous multi-UAVs are performing the missions of cooperative reconnaissance and attack, there exists the problem of local task allocation under the constraints of communication distance and time delay. In this paper, a distributed multi-UAV task allocation method is proposed based on the contract net protocol. First, an optimization model of the local task allocation when heterogeneous multi-UAVs discover a new target is established. An information consensus algorithm is designed for the local UAV communication network to solve the conflict in the task announcement process. Then, a coalition formation and resource management method are proposed, so that the UAVs in the coalition can consume the resources in a more balanced way. Simulation results show that the proposed method can effectively solve the problem of task allocation of heterogeneous multi-UAV reconnaissance and attack mission under communication constraints, and can obtain the maximum system utility.

Key words: multiple-UAV, heterogeneous UAV, task allocation, communication constraint, contract net

中图分类号:

V249

陈璞, 严飞, 刘钊, 成果达. 通信约束下异构多无人机任务分配方法[J]. 航空学报, 2021, 42(8): 525844-525844.

CHEN Pu, YAN Fei, LIU Zhao, CHENG Guoda. Communication-constrained task allocation of heterogeneous UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(8): 525844-525844.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

通信约束下异构多无人机任务分配方法

Communication-constrained task allocation of heterogeneous UAVs

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