Multi-unmanned-plane emergency rescue task distribution method

A task allocation and multi-UAV technology, applied in the field of UAV, can solve the problems of coupling limitation, low efficiency, neglect of task connection, etc.

Active Publication Date: 2015-11-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The efficiency of the contract network algorithm is low when it is applied to task allocation, ignoring the connection between tasks, and the degree of coupling is greatly limited

Method used

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  • Multi-unmanned-plane emergency rescue task distribution method
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Embodiment Construction

[0044] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0045] like figure 1 and figure 2 As shown, the present invention discloses a multi-UAV emergency relief task assignment method, comprising the following steps:

[0046] Step 1), obtain the number of drones and the position of each drone, the number of targets and the position of each target;

[0047] Step 2), randomly obtain NP kinds of task allocation schemes X={X 1 ,X2 ,...,X NP}, NP is the preset number of initial task schemes;

[0048] Step 3), establishing an objective function J as an evaluation criterion for the task assignment scheme;

[0049] Step 4), using the objective function J as the fitness function f, calculate the fitness value of all task allocation schemes at the initial moment, and record the fitness value and the task allocation scheme at this time, and initialize the update times t of the task allocation scheme is zero...

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Abstract

Disclosed in the invention is a multi-unmanned-plane emergency rescue task distribution method. According to the method, task distribution schemes are divided into three categories: a dominant task distribution scheme, a major task distribution scheme, and a slave task distribution scheme. During the task distribution scheme updating process, all task distribution schemes are sorted and classified based on an established fitness function; and according to the classification situation, the task distribution schemes are updated based on different updating formulas. Therefore, on the premise that an optimum scheme is obtained rapidly, local optimization can be avoided.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, specifically designs a multi-unmanned aerial vehicle task assignment method, and in particular relates to a multi-unmanned aerial vehicle emergency relief task assignment method. Background technique [0002] At present, when researching multi-UAV task allocation, it generally considers the situation when multiple UCAVs perform a single task and multiple UCAVs perform multiple tasks. Through the analysis of the UAV task allocation system, a corresponding mathematical model is established, and then according to the constraints To solve practical problems, when the system changes, the mathematical model must be adjusted accordingly. Many task assignment models based on classical problems have been proposed for both single-task and multi-task situations. The mathematical models of UAV single task assignment mainly include: vehicle routing problem model (VRP); multi-traveling salesm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
Inventor 丁臻极王从庆陈含欣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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