摘要
针对有人机/无人机编队中出现的任务负载不均衡、实时性不足等问题,结合任务协同特点及实际作战需求,对传统合同网协议进行扩展,提出了一种有人机/无人机任务协同方法。根据战场实际需求分析有人机/无人机任务协同过程,建立有人机/无人机任务协同模型,通过求解约束条件下的效能函数,确定效能参数,确保有人机/无人机任务编队达到最短执行时间及效能最大化。实验结果说明,基于扩展合同网协议的有人机/无人机任务协同方法能有效均衡有人机/无人机任务负载,减少任务执行时间,具有良好的实时性和扩展性。
Aiming at the problems of unbalanced task load and insufficient real-time in the manned aircraft/UAV formation,this paper expands the traditional contract network protocol by combining the task coordination characteristics and actual combat requirements,and proposes a manned/unmanned aerial vehicle task coordination method.According to the actual needs of the battlefield,analyze the manned/UAV task coordination process,establish the manned machine/UAV task coordination model,and determine the efficiency parameters by solving the efficiency function under the constraint conditions,so as to ensure that the manned/UAV task formation achieves the shortest execution time and maximizes the efficiency.Experimental results show that the manned/UAV task collaboration method based on the extended contract network protocol can effectively balance the workload of manned/unmanned aerial vehicle tasks,reduce mission execution time,and have good real-time and scalability.
作者
陈宣霏
沈博
张凡
杨刚
周兴社
CHEN Xuanfei;SHEN Bo;ZHANG Fan;YANG Gang;ZHOU Xingshe(School of Computer Science,Northwestern Polytechnical University,Xi'an 710129,China)
出处
《无人系统技术》
2022年第5期72-80,共9页
Unmanned Systems Technology
基金
国家自然科学基金(61902295,62032018)。
关键词
有人机/无人机
任务协同
实时性
合同网协议
任务负载
任务执行时间
Manned/Unmanned Aerial Vehicles
Task Collaboration
Real-time
Contract Network Agreement
Task Load
Task Execution Time
