Cooperative search-attack is an important application of unmanned aerial vehicle(UAV)swarm in military field.The coupling between path planning and task allocation,the heterogeneity of UAVs,and the dynamic nature of t...Cooperative search-attack is an important application of unmanned aerial vehicle(UAV)swarm in military field.The coupling between path planning and task allocation,the heterogeneity of UAVs,and the dynamic nature of task environment greatly increase the complexity and difficulty of the UAV swarm cooperative search-attack mission planning problem.Inspired by the collaborative hunting behavior of wolf pack,a distributed selforganizing method for UAV swarm search-attack mission planning is proposed.First,to solve the multi-target search problem in unknown environments,a wolf scouting behavior-inspired cooperative search algorithm for UAV swarm is designed.Second,a distributed self-organizing task allocation algorithm for UAV swarm cooperative attacking of targets is proposed by analyzing the flexible labor division behavior of wolves.By abstracting the UAV as a simple artificial wolf agent,the flexible motion planning and group task coordinating for UAV swarm can be realized by self-organizing.The effectiveness of the proposed method is verified by a set of simulation experiments,the stability and scalability are evaluated,and the integrated solution for the coupled path planning and task allocation problems for the UAV swarm cooperative search-attack task can be well performed.展开更多
It is difficult for the double suppression division algorithm of bee colony to solve the spatio-temporal coupling or have higher dimensional attributes and undertake sudden tasks.Using the idea of clustering,after clu...It is difficult for the double suppression division algorithm of bee colony to solve the spatio-temporal coupling or have higher dimensional attributes and undertake sudden tasks.Using the idea of clustering,after clustering tasks according to spatio-temporal attributes,the clustered groups are linked into task sub-chains according to similarity.Then,based on the correlation between clusters,the child chains are connected to form a task chain.Therefore,the limitation is solved that the task chain in the bee colony algorithm can only be connected according to one dimension.When a sudden task occurs,a method of inserting a small number of tasks into the original task chain and a task chain reconstruction method are designed according to the relative relationship between the number of sudden tasks and the number of remaining tasks.Through the above improvements,the algorithm can be used to process tasks with spatio-temporal coupling and burst tasks.In order to reflect the efficiency and applicability of the algorithm,a task allocation model for the unmanned aerial vehicle(UAV)group is constructed,and a one-to-one correspondence between the improved bee colony double suppression division algorithm and each attribute in the UAV group is proposed.Task assignment has been constructed.The study uses the self-adjusting characteristics of the bee colony to achieve task allocation.Simulation verification and algorithm comparison show that the algorithm has stronger planning advantages and algorithm performance.展开更多
基金supported by the National Natural Science Foundation of China(61502534)the Shaanxi Provincial Natural Science Foundation(2020JQ-493)+2 种基金the Integrative Equipment Research Project of Armed Police Force(WJ20211A030018)the Military Science Project of the National Social Science Fund(WJ2019-SKJJ-C-092)the Theoretical Research Foundation of Armed Police Engineering University(WJY202148)。
文摘Cooperative search-attack is an important application of unmanned aerial vehicle(UAV)swarm in military field.The coupling between path planning and task allocation,the heterogeneity of UAVs,and the dynamic nature of task environment greatly increase the complexity and difficulty of the UAV swarm cooperative search-attack mission planning problem.Inspired by the collaborative hunting behavior of wolf pack,a distributed selforganizing method for UAV swarm search-attack mission planning is proposed.First,to solve the multi-target search problem in unknown environments,a wolf scouting behavior-inspired cooperative search algorithm for UAV swarm is designed.Second,a distributed self-organizing task allocation algorithm for UAV swarm cooperative attacking of targets is proposed by analyzing the flexible labor division behavior of wolves.By abstracting the UAV as a simple artificial wolf agent,the flexible motion planning and group task coordinating for UAV swarm can be realized by self-organizing.The effectiveness of the proposed method is verified by a set of simulation experiments,the stability and scalability are evaluated,and the integrated solution for the coupled path planning and task allocation problems for the UAV swarm cooperative search-attack task can be well performed.
基金This work was supported by the National Natural Science and Technology Innovation 2030 Major Project of Ministry of Science and Technology of China(2018AAA0101200)the National Natural Science Foundation of China(61502522,61502534)+4 种基金the Equipment Pre-Research Field Fund(JZX7Y20190253036101)the Equipment Pre-Research Ministry of Education Joint Fund(6141A02033703)Shaanxi Provincial Natural Science Foundation(2020JQ-493)the Military Science Project of the National Social Science Fund(WJ2019-SKJJ-C-092)the Theoretical Research Foundation of Armed Police Engineering University(WJY202148).
文摘It is difficult for the double suppression division algorithm of bee colony to solve the spatio-temporal coupling or have higher dimensional attributes and undertake sudden tasks.Using the idea of clustering,after clustering tasks according to spatio-temporal attributes,the clustered groups are linked into task sub-chains according to similarity.Then,based on the correlation between clusters,the child chains are connected to form a task chain.Therefore,the limitation is solved that the task chain in the bee colony algorithm can only be connected according to one dimension.When a sudden task occurs,a method of inserting a small number of tasks into the original task chain and a task chain reconstruction method are designed according to the relative relationship between the number of sudden tasks and the number of remaining tasks.Through the above improvements,the algorithm can be used to process tasks with spatio-temporal coupling and burst tasks.In order to reflect the efficiency and applicability of the algorithm,a task allocation model for the unmanned aerial vehicle(UAV)group is constructed,and a one-to-one correspondence between the improved bee colony double suppression division algorithm and each attribute in the UAV group is proposed.Task assignment has been constructed.The study uses the self-adjusting characteristics of the bee colony to achieve task allocation.Simulation verification and algorithm comparison show that the algorithm has stronger planning advantages and algorithm performance.
