A Cooperative Task Allocation Method for Multi-type UAVs under Resource Constraints
A resource limitation and task allocation technology, applied in special data processing applications, instruments, electronic digital data processing, etc., can solve problems such as different needs and resource constraints, and achieve the effect of the most cost-effective, low-cost, and high combat effectiveness
Active Publication Date: 2018-04-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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[0005] The present invention provides a multi-type UAV cooperative task assignment method based on the cross-entropy method for multi-UAV task assignment under resource constraints, and solves the difficulty of resource limitation in the existing multi-UAV task assignment process, such as Different types of resources are required to complete a certain task, and each resource requires a different amount
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[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0037] refer to figure 1, a multi-type unmanned aerial vehicle cooperative task assignment method based on the cross-entropy method under the condition of resource constraints. An optimal allocation plan, and finally assign drones to tasks according to this plan.
[0038] At the beginning of the algorithm design, it is first necessary to consider the flight environment of the UAV, consider the various requirements of the mission and the UAV, and then initialize various parameters, and then generate the initial probability matrix, and then randomly select a certain number according to the cross-entropy method samples, remove invalid samples, and calculate the objective function value for the samples. At the same time, arrange the samples according to the objective function value from large to small, and update the probability matrix for a certa...
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The invention discloses a multi-type unmanned aerial vehicle cooperative task assignment method under the condition of resource constraints. First, the environment information is initialized, and an initial probability matrix is established according to the environment model, and then a certain number of random samples are generated according to the initial probability matrix, and according to the constraint conditions Delete invalid samples, and then calculate the objective function value of valid samples according to the objective function, and then arrange the objective function values of the samples from large to small, take a certain proportion of the top samples to update the probability matrix, and give specific resource constraints A multi-type unmanned aerial vehicle task allocation algorithm based on the cross-entropy method. The invention can better solve the multi-type unmanned aerial vehicle task allocation problem under the condition of resource limitation, so that the unmanned aerial vehicle or the unmanned aerial vehicle group can complete the task with higher income. The invention is applied to task allocation of multi-type unmanned aerial vehicles under the condition of resource limitation.
Description
technical field [0001] A multi-type UAV collaborative task assignment method based on the cross-entropy method under resource constraints is applied to the situation where the task amount UAV resources are limited, and multi-UAV collaborative completion is in different positions, different values, and different tasks. Threat level target tasks and other fields, specifically related to the environmental modeling of task allocation based on resource constraints and the technology of using the cross-entropy method to achieve the purpose of maximizing the overall combat effectiveness of the UAV fleet and minimizing the cost. Background technique [0002] UAVs have high secrecy, small error, strong execution, high efficiency and low cost in the execution process, and can be used to replace soldiers to complete some life-threatening tasks. Evaluation and other military purposes, such as border patrol, environmental detection, aerial photography, resource exploration, disaster moni...
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IPC IPC(8): G06F19/00
Inventor 屈鸿黄利伟樊珍刘昕彤王留帅陈珊陈常乐张书洲
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA