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Improved-firefly-algorithm-based multi-unmanned-aerial-vehicle cooperative coupling task distribution method

A technology of firefly algorithm and task allocation, which is applied in the field of task planning and design, and can solve problems such as not considering task coupling constraints

Inactive Publication Date: 2017-09-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] As an emerging optimization algorithm, the firefly algorithm has shown good application prospects in many fields. In the application of mission planning system design, most studies have simplified the modeling to a certain extent, and have not considered the existence of Coupling constraints relationship, there is no literature to apply the firefly algorithm and related improved algorithms to the multi-UAV cooperative task assignment problem with both time coupling constraints and special coupling constraints

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[0091] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0092] figure 1 For the DE-DFA algorithm flowchart of the present invention, the detailed steps of the present invention are as follows:

[0093] Step 1: Build a task assignment model under special coupling

[0094] In this step, the following definitions exist:

[0095]Definition 1: U={U 1 ,U 2 ,...,U i ,...,U M} is the set of drones, where U i Represents the i-th UAV, M represents the total number of UAVs;

[0096] Definition 2: T={T 1 , T 2 ,...,T j ,...,T N} is the target set, where T j Indicates the jth target, N is the total number of targets;

[0097] Definition 3: Task jh for target T j The hth type of task, h=1,2,3, when h=1 is confirmation, h=2 is strike, h=3 is damage assessment;

[0098] Definition 4: U jh To be able to perform tasks Task jh collection of drones;

[0099] Definition 5: TaskSequence i ={task1>task2>task3>....

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Abstract

The invention, which relates to the task planning design field, provides an improved-firefly-algorithm-based multi-unmanned-aerial-vehicle cooperative coupling task distribution method. A hybrid discrete firefly algorithm with a special coding-decoding structure is provided; and on the basis of the study on multi-unmanned-aerial-vehicle cooperative task distribution with a time coupling constraint and a special coupling constraint simultaneously, a mathematic model is put forward and task resolving is carried out. The method provided by the invention has high universality. On the basis of the analysis of data obtained by multi-times simulation and verification, the model is perfected, the iterative process becomes short, and the convergence speed is fast. The multi-unmanned-aerial-vehicle cooperative task distribution plan is expressed effectively by means of segmented integer coding by using minimization of the maximum range of the unmanned aerial vehicle as an overall optimization objective; and an optimal solution is searched in the solution space based on an improved DE-DFA algorithm, so that a multi-unmanned-aerial-vehicle task distribution problem in a coupling task environment is solved and a solution is provided for solving a multi-unmanned-aerial-vehicle task distribution problem in a coupling task environment.

Description

technical field [0001] The invention relates to the field of mission planning and design, in particular to a planning method for coordinated operations of unmanned aerial vehicles. Background technique [0002] The successful application of mission planning system design in many fields has brought great improvements to national defense and industrial production. The multi-UAV cooperative mission planning problem is a kind of combinatorial optimization problem with multiple constraints, and it is also a typical NP problem. -Hard problem, with high complexity. The present invention takes multi-UAV cooperative execution of SEAD tasks with complex coupling constraints as the research background, fully considers the heterogeneity of UAVs, limited resources, and coupling constraints between tasks, including confirmation, strike and damage assessment. The time coupling constraints of tasks and the special coupling constraints between targets, using combinatorial optimization theor...

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Application Information

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IPC IPC(8): G05D1/10G06N3/00
CPCG05D1/101G06N3/006
Inventor 张耀中谢松岩胡波张建东史国庆李飞龙
Owner NORTHWESTERN POLYTECHNICAL UNIV
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