考虑协同航路规划的多无人机任务分配

doi:10.7527/S1000-6893.2020.24234

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

考虑协同航路规划的多无人机任务分配

王然然, 魏文领, 杨铭超, 刘玮

航空工业西安飞行自动控制研究所, 西安 710076

收稿日期:2020-05-18 修回日期:2020-06-01 发布日期:2020-06-12
通讯作者: 王然然 E-mail:npuwangran@163.com

Task allocation of multiple UAVs considering cooperative route planning

WANG Ranran, WEI Wenling, YANG Mingchao, LIU Wei

AVIC Xi'an Flight Automatic Control Research Institute, Xi'an 710076, China

Received:2020-05-18 Revised:2020-06-01 Published:2020-06-12

摘要/Abstract

摘要： 针对多无人机任务分配与协同航路规划问题，以分布式合同网拍卖算法为基础，构建无人机集群任务拍卖架构与拍卖收益函数，结合模拟退火算法协调任务执行次序，采用A^*算法完成两任务点间航程预估，在任务分配阶段同步完成多无人机间协同航路的初规划，确定最佳任务执行次序，实现任务分配与协同航路规划的紧耦合。仿真结果表明，在考虑禁飞区、障碍威胁情况下，该算法能够有效完成多架无人机不同类型任务的分配，且目标分配、执行次序合理，总执行代价小，各机间负载均衡；在任务分配阶段考虑协同航路规划具有明显的效果，能够有效提高任务分配的合理性。

关键词: 无人机, 任务分配, 航路规划, 合同网, 多机协同

Abstract: To solve the problem of task allocation and cooperative route planning for multiple unmanned aerial vehicles (UAVs), this paper takes the distributed contract network auction algorithm as the basis, designs auction architecture and auction revenue function of UAVs cluster, combines the simulated annealing algorithm to coordinate the task execution order, predicts the range between two task points using the A^* algorithm, completes the initial planning of cooperative route among multiple unmanned aerial vehicles synchronously in the task allocation phase, determines the optimal task execution order, and achieves the tight coupling between the task allocation and cooperative route planning. The simulation results show that, considering the threat of no-fly zones and obstacles, this algorithm can effectively complete the assignment of different targets with reasonable target assignments and execution orders, low total execution cost, and balanced loads among the aircraft. In the stage of task assignment, it has obvious effect to consider cooperative route planning and can effectively improve the rationality of task allocation.

Key words: UAVs, task allocation, route planning, contract nets, multi-aircraft cooperation

中图分类号:

V249

王然然, 魏文领, 杨铭超, 刘玮. 考虑协同航路规划的多无人机任务分配[J]. 航空学报, 2020, 41(S2): 724234-724234.

WANG Ranran, WEI Wenling, YANG Mingchao, LIU Wei. Task allocation of multiple UAVs considering cooperative route planning[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724234-724234.

参考文献

[1] 宗群, 王丹丹, 邵士凯, 等. 多无人机协同编队飞行控制研究现状及发展[J]. 哈尔滨工业大学学报, 2017, 49(3):1-14. ZONG Q, WANG D D, SHAO S K, et al. Research status and development of multi UAV coordinated formation flight control[J]. Journal of Harbin Institute of Technology, 2017, 49(3):1-14(in Chinese).
[2] ARSIE A, SAVLA K, FRAZZOLI E. Efficient routing algorithms for multiple vehicles with no explicit communications[J]. IEEE Transactions on Automatic Control, 2009, 54(10):2302-2317.
[3] WANG C, MU D, ZHAO F, et al. A parallel simulated annealing method for the vehicle routing problem with simultaneous pickup-delivery and time windows[J]. Computers & Industrial Engineering, 2015, 83(C):111-122.
[4] 梁星星, 马扬, 冯旸赫, 等. 面向多旅行商问题的多目标模拟退火算法研究[J]. 南京师范大学学报(自然科学版),2017, 40(3):80-86. LIANG X X, MA Y, FENG Y H, et al. Research on multi-objective simulated annealing algorithm for multi-traveling salesman problem[J]. Journal of Nanjing Normal University (Natural Science Edition), 2017, 40(3):80-86(in Chinese).
[5] DARRAH M A, NILAND W, STOLARIK B M. Multiple UAV dynamic task allocation using mixed integer linear programming in a SEAD mission[C]//AIAA Infotech & Aerospace Conference. Reston:AIAA, 2005:2005-7164.
[6] 温攀, 王社伟, 徐明仁. 基于Memetic算法的多无人机任务分配研究[J]. 计算机仿真, 2013, 30(5):82-85, 103. WEN P, WANG S W, XU M R. Research in task assignment of multi-UAV based on Memetic algorithm[J]. Computer Simulation, 2013, 30(5):82-85, 103(in Chinese).
[7] 田震, 王晓芳. 基于多基因遗传算法的异构多无人机协同任务分配[J]. 飞行力学, 2019, 37(1):39-44. TIAN Z, WU X F. Cooperative multiple task assignment for heterogeneous multi-UAVs with multi-chromosome genetic algorithm[J]. Flight Dynamics, 2019, 37(1):39-44(in Chinese).
[8] BERTSEKAS D P. The auction algorithm:A distributed relaxation method for the assignment problem[J]. Annals of Operations Research, 1988, 14(1):105-123.
[9] ZAVLANOS M M, SPESIVTSEV L, PAPPAS G J. A distributed auction algorithm for the assignment problem[C]//Proceedings of the 47th IEEE Conference on Decision & Control. Piscataway:IEEE Press, 2008:1212-1217.
[10] 沈林成, 牛轶峰, 朱华勇. 多无人机自主协同控制理论与方法[M]. 北京:国防工业出版社, 2013. SEHN L C, NIU Y F, ZHU H Y. Theories and methods of autonomous cooperative control for multiple UAVs[M]. Beijing:National Defense Industry Press, 2013(in Chinese).
[11] 严飞, 祝小平, 周洲, 等. 考虑同时攻击约束的多异构无人机实时任务分配[J]. 中国科学:信息科学, 2019, 49(5):53-67. YAN F, ZHU X P, ZHOU Z, et al. Real-time task allocation for a heterogeneous multi-UAV simultaneous attack[J]. Scientia Sinica:Informationis, 2019, 49(5):53-67(in Chinese).
[12] CETIN O, YILMAZ G. Real-time autonomous UAV formation flight with collision and obstacle avoidance in unknown environment[J]. Journal of Intelligent & Robotic Systems, 2016, 84(1-4):415-433.
[13] 叶媛媛, 闵春平, 朱华勇, 等. 基于整数规划的多UCAV任务分配问题研究[J]. 信息与控制, 2005, 34(5):548-552. YE Y Y, MIN C P, ZHU H Y, et al. Multiple UCAV mission assignment based on integer programing[J]. Information and Control, 2005, 34(5):548-552(in Chinese).
[14] CAO W, SHI H, ZHU S, et al. Application of an improved A^* algorithm in route planning[C]//Global Congress on Intelligent Systems. New York:IEEE Computer Society, 2009:253-257.
[15] HOWLETT J K, MCLAIN T W, GOODRICH M A. Learning real-time A^* path planner for unmanned air vehicle target sensing[J]. Journal of Aerospace Computing Information and Communication, 2012, 3(3):108-122.
[16] PEHLIVANOGLU Y V. A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV[J]. Aerospace Science and Technology, 2012, 16(1):47-55.
[17] 李春. 无人机集群自主协同搜索方法研究[D]. 杭州:浙江大学, 2019. LI C. Research on autonomous cooperative search using UAV swarms[D]. Hangzhou:Zhejiang University, 2019(in Chinese).
[18] YANG K, KEAT G S, SUKKARIEH S. A Gaussian process-based RRT planner for the exploration of an unknown and cluttered environment with a UAV[J]. Advanced Robotics, 2013, 27(6):431-443.
[19] 杨希祥, 李晓斌, 肖飞, 等. 智能优化算法及其在飞行器优化设计领域的应用综述[J]. 宇航学报, 2009, 30(6):7-17. YANG X X, LI X B, XIAO F, et al. Overview of intelligent optimization algorithm and its application in flight vehicles optimization design[J]. Journal of Astronautics, 2009, 30(6):7-17(in Chinese).
[20] 彭辉, 王林, 沈林成. 区域目标搜索中基于改进RRT的UAV实时航迹规划[J]. 国防科技大学学报, 2009, 31(5):86-91. PENG H, WANG L, SHEN L C. The modified RRT-based real-time route planning for UAV area target searching[J]. Journal of National University of Defense Technology, 2009, 31(5):86-91(in Chinese).

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

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

考虑协同航路规划的多无人机任务分配

Task allocation of multiple UAVs considering cooperative route planning

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	王海峰, 刘坤澎, 江泓鑫, 杜晨曦. 螺旋桨多设计点气动优化方法和变桨距角策略[J]. 航空学报, 2024, 45(9): 528831-528831.
[2]	赵春晖, 刘安萌, 吕洋, 潘泉. 无人机韧性自主定位技术综述[J]. 航空学报, 2024, 45(8): 28839-028839.
[3]	张薇, 何若俊. 面向物联网数据收集的无人机自主路径规划[J]. 航空学报, 2024, 45(8): 329054-329054-1.
[4]	赵靖, 宋丹. 无人机GNSS/IMU组合导航系统完好性监测方法[J]. 航空学报, 2024, 45(7): 328943-328943.
[5]	王传云, 苏阳, 王琳霖, 王田, 王静静, 高骞. 面向反制无人机集群的多目标连续鲁棒跟踪算法[J]. 航空学报, 2024, 45(7): 329017-329017.
[6]	尹洪玉, 吴宇, 梁天骄. 固定翼无人机巡逻覆盖协同路径规划方法[J]. 航空学报, 2024, 45(6): 328944-328944.
[7]	安朝, 霍贵玺, 孟杨, 谢长川, 杨超. 翼尖铰接组合式无人机气动建模方法及布局参数影响[J]. 航空学报, 2024, 45(6): 629587-629587.
[8]	罗旭东, 吴一全, 陈金林. 无人机航拍影像目标检测与语义分割的深度学习方法研究进展[J]. 航空学报, 2024, 45(6): 28822-028822.
[9]	李广佳, 王红波, 张凯, 仪志胜. 临近空间太阳能无人机增升减阻技术综述[J]. 航空学报, 2024, 45(5): 529644-529644.
[10]	蔡云鹏, 周大鹏, 丁江川. 具有防撞安全约束的无人机集群智能协同控制[J]. 航空学报, 2024, 45(5): 529683-529683.
[11]	郑高杰, 何小明, 李东坡, 谭慧俊, 汪昆, 吴祯龙, 王德鹏. 尾部推进无人机双90°偏折进气道/蜗壳耦合流动特性[J]. 航空学报, 2024, 45(4): 128782-128782.
[12]	王祝, 张梦通, 张振鹏, 徐广通. 基于多指标动态优先级的无人机协同路径规划[J]. 航空学报, 2024, 45(4): 328816-328816.
[13]	张清瑞, 刘赟韵, 孙慧杰, 朱波. 固定翼无人机紧密编队的鲁棒协同跟踪控制[J]. 航空学报, 2024, 45(1): 629233-629233.
[14]	郭洪振, 陈谋, 戴永东, 王茂飞. 分布式自适应事件触发四旋翼无人机编队控制[J]. 航空学报, 2023, 44(S2): 729917-729917.
[15]	刘坤达, 刘雪明, 朱波, 张清瑞. 面向狭窄通道穿越的多机编队安全鲁棒控制[J]. 航空学报, 2023, 44(S2): 729768-729768.