基于冗余集中式的多无人机协同多任务分配

Multiple Task Assignments for Cooperating Unmanned Aerial Vehicles Using Redundancy Centralized Calculation

对多无人机协同多任务分配的求解策略进行了研究,针对集中式求解和基于协商的分布式求解方法各自的局限性,提出了一种基于冗余集中式的求解策略。该策略基于离散粒子群算法,具有能够以不同初始解并行计算的优点,通过在多无人机上运行相同的任务指派算法,充分利用通信和计算资源,在可接受的时间和计算代价内获得全局优化解。

Solution strategy of cooperative multiple task assignment for cooperating unmanned aerial vehi- cles （UAVs） is studied. Since centralized solution and distributed solution method have their own limits, a solution strategy based on redundancy centralized calculation is proposed. Since for discrete particle swarm optimization algorithm parallel calculations with different initial solution are available, the strategy makes full use of communication and calculation resources by carrying out same centralized task assign- ment algorithm across all UAVs, which can get global optimal solution within an acceptable time and computational cost.