边缘计算下的多无人机野外协同作业机制研究

Research on Multi UAVs Field Cooperative Operation Mechanism Based on Edge Computing

无人机编队在野外或灾后作业过程中因外界通信链路不佳且能量有限,面临调度难、续航短的问题.本文针对该问题提出了一种基于边缘计算的多机协同互助作业方案,所有计算任务都在最边缘的设备(无人机)上协同完成.将无人机节点建模为Jackson网络,在任务卸载调度时综合考虑通信成本、各节点的实时计算能力和剩余能量,继而提出了Oracle式(O)、主动集中式(PC)、主动分布式(PD)、反馈分布式(RD)四种调度算法,并设计模拟器进行仿真实验,将几种算法与非协作方法一起进行效率和能耗的综合比较.实验结果显示,协作方法明显优于非协作方法,当外部任务到达率较高时,PC可以在性能和能耗间取得最佳平衡,当任务到达率较低时RD表现更佳.

In the field or post disaster operation,UAV formation is confronted with poor scheduling and short mileage due to poor communication links and limited energy.In this paper,a multi UAV cooperative mutual assistance scheme based on edge computing is proposed.All of the computing tasks are processed on the most marginal devices(unmanned aerial vehicles).The UAV node is modeled as Jackson network,and the four kinds of Oracle(O),proactive centralised(PC),proactive distributed(PD),and reactive distributed(RD)are put forward by considering the communication cost,the real-time computing power and the residual energy of each node in the task unloading and scheduling.The simulator is designed to carry out simulation experiments.The efficiency and energy consumption of several algorithms are compared with those of non-cooperative methods.The experimental results show that the cooperative method is obviously better than the non-cooperative method.When the arrival rate of the external task is high,the proactive centralized(PC)can achieve the best balance between the performance and the energy consumption,and the reactive distributed(RD)performance is better when the task arrival rate is low.