考虑通信拓扑控制的FANET实时任务调度算法

doi:10.7527/S1000-6893.2025.32636

Abstract

Abstract:

The multiple Unmanned Aerial Vehicle （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 applications requiring immediate monitoring. 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

CLC Number:

V279

Peizhao WANG, Ming HE, Haihua CHEN, Hongpeng WANG. Real-time task scheduling algorithm for FANET considering communication topology control[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(6): 332636.

Figures/Tables 10

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References 30

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算法名称	ISATC	CNTC	M²TC
HPSO	2.396 5×10⁷	2.340 3×10⁷	2.335 3×10⁷
禁忌搜索	8.130 0×10⁶	7.567 5×10⁶	7.517 5×10⁶
WM-Lazy Theta*	7.761 5×10⁵	2.136 5×10⁵	1.636 5×10⁵
DVATS	7.750 5×10⁵	2.130 0×10⁵	1.630 0×10⁵

算法	ISATC	CNTC	M²TC	穷搜索（基准）
HPSO	0.101 2	0.096 0	0.069 2	0.064 8
禁忌搜索	0.120 0	0.080 0	0.066 8	0.063 6
WM-Lazy Theta*	0.098 4	0.066 0	0.054 1	0.042 8
静态拍卖	0.094 0	0.076 0	0.060 0	0.052 8
DVATS	0.084 3	0.060 4	0.046 2	0.042 4

算法	飞行时间/s
算法	W=5	W=10	W=20	W=40
HPSO	66.59	54.87	66.66	75.39
禁忌搜索	37.50	25.10	26.53	130.66
WM-Lazy Theta*	75.65	71.74	93.47	169.10
静态拍卖	55.61	30.55	45.43	145.68
DVATS	77.88	72.11	99.19	198.09

Real-time task scheduling algorithm for FANET considering communication topology control

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