基于合同网的无人机协同目标分配方法

Task Assignment Scheme Based on Contract Net

多无人机(UAV)协同目标分配是多无人机协同控制的重要内容之一。针对多无人机协同侦察问题,以提高作战效能,减少侦察代价和任务完成时间为目的进行目标分配,首先建立了目标分配问题的数学模型,在初始分配的基础上,使用基于合同网的目标分配方法,引入负载系数参数,最后通过迭代执行买卖合同与交换合同实现了任务的合理分配。由仿真结果可知,算法能够给出很好的优化效果的分配方案,并有很好的可扩展性。

The Multi-UAV（uninhabited aerial vehicles） cooperative target assignment is an important part of Multi-UAV cooperative control.For multi-UAV cooperative reconnaissance problem,the targets are allocated in order to improve operational efficiency,reduce costs and Task completion time.The mathematical model for Multi-UAV task assignment problem was build firstly,based on the initial allocation,a target assignment method based on contract-net was presented,load factor was introduced,finally,a rational allocation of tasks was achieved by iterative implementation of the sale contracts and swap contracts.Simulation results demonstrated that the assign schemes presented by the algorithm have good optimal effect and good scalability.