关键词: 无人机, 自组织网络, 实时任务调度, 动态拓扑控制, 拍卖算法, 协同优化

Abstract: The multi-UAV flying ad hoc network (FANET) with its enhanced situational awareness and environmental adaptability can effectively ensure real-time ground task search, allocation and execution in various scenarios with real-time monitoring requirements. Given these application scenarios and task requirements, the key issue of collaborative optimization of real-time task scheduling and dynamic topology control during autonomous allocation in FANET is addressed: the real-time task scheduling ensures the timeliness requirements of monitoring tasks, and the dynamic topology control ensures the stable transmission of tasks and location data. Firstly, a joint optimization framework integrating auction mechanism and topology control based on dynamic value assessment is constructed. Secondly, through the introduction of a dynamic task value assessment model, dynamic task priority ranking and allocation are realized, and a topology control strategy based on minimum maintenance cost is designed. The cost of topology adjustment is reduced via a selective link maintenance mechanism. Finally, the complexity analysis demonstrates that the proposed algorithm can meet the requirements for efficient solution and real-time optimization in dynamic scenarios. The significant advantages of the proposed algorithm in terms of task response speed and topology stability are demonstrated through simulation experiments. This work provides both theoretical support and technical references for engineering scenarios requiring immediate response and precise monitoring.

Key words: UAV, ad hoc network, real-time task scheduling, dynamic topology control, auction algorithm, collaborative optimization