摘要
无人机集群由于其强大的信息共享与行为协作等优势,在军事、民用及科研等领域发挥了重要作用。然而无人机集群在执行大规模任务时,任务的时间约束、时序关系以及性能要求都对集群任务的协同规划与分配提出了巨大的挑战。针对多无人机协同飞行约束下的任务分配问题,本文提出了一种基于改进贪心算法的无人机集群协同任务分配算法,在保证无人机间协同飞行以及任务间时序约束的前提下,优化无人机集群的飞行时间与距离。该算法借鉴图论中的有向图来表示任务间协同飞行约束关系,并依据改进的贪心算法对任务进行局部最优分配、优化,有效获得时间最优、距离最优两种策略下的近似最佳飞行路径。在构建的覆盖扫描任务场景上进行试验对比,验证了本文所提算法的有效性,该算法相较于传统解决方法在时间与距离性能上最高能提升20%。
UAV cluster plays an important role in many fields such as military, civil and scientific research because of its strong advantages of information sharing and behavior cooperation. However, when UAV clusters perform largescale tasks, the time constraints, timing relationship and performance requirements of tasks pose great challenges to the collaborative planning and allocation of cluster tasks. Aiming at the task allocation problem under multi UAV cooperative flight constraints, this paper proposes a UAV cluster cooperative task allocation algorithm based on improved greedy algorithm, which optimizes the flight time and distance of UAV cluster on the premise of ensuring the cooperative flight between UAVs and the timing constraints between tasks. The algorithm uses the directed graph in graph theory to represent the cooperative flight constraint relationship between tasks, and carries out local optimal allocation and optimization of tasks according to the improved greedy algorithm so as to effectively obtain the approximate optimal flight path under the two strategies of time optimization and distance optimization. Experimental comparison on the constructed coverage scanning task scenario verifies the effectiveness of the proposed algorithm.Compared with the traditional solution, the algorithm can improve the time and distance performance by up to 20%.
作者
陈宇恒
陈进朝
陈雪聪
Chen Yuheng;Chen Jinchao;Chen Xuecong(Northwestern Polytechnical University,Xi'an 710072,China)
出处
《航空科学技术》
2022年第4期13-18,共6页
Aeronautical Science & Technology
基金
国家自然科学基金(62106202)
航空科学基金(2020Z023053004)。
关键词
无人机集群
任务分配
协同任务
图论
改进贪心算法
UAV cluster
task allocation
collaborative task
graph theory
improved greedy algorithm
