多无人机分布式协同异构任务分配

Distributed coordinated heterogeneous task allocation for unmanned aerial vehicles

研究异构无人机对不同类型目标执行侦察、打击和评估任务的协同任务分配问题.采用信息论中熵的变化量对侦察与评估任务中所获取的信息量进行度量,将无人机对不同类型目标的打击能力抽象为对目标的毁伤概率,并考虑各个任务之间的相互关联,建立异构多无人机协同任务分配模型.设计了基于相邻局部通信的分布式拍卖算法,实现了多无人机协同任务分配问题的优化求解.仿真结果表明了所建模型的合理性和求解方法的有效性.

This paper considers the problem of allocating heterogeneous unmanned aerial vehicles（UAVs） to varied types of targets performing detection,attack and verification tasks.The amount of information gained through detection and verification tasks is calculated by using the changes in entropy.The ability of UAVs performing attack tasks is modeled by the probabilities of targets destroyed.The relationships between the tasks are also considered.The model of the distributed task allocation for heterogeneous UAVs is established.And the distributed auction algorithm using limited communications is developed to solve the task allocation problem optimally.Simulation results show the rationality of the model and the effectiveness of the proposed method.