A Distributed Task Scheduling Method for UAV Swarm in Dynamic Environment

Abstract

The invention provides a distributed task scheduling method for an unmanned aerial vehicle fleet in a dynamic environment and aims to achieve that the unmanned aerial vehicle fleet get rid of the limits of a ground control station in the dynamic environment and autonomously conduct task scheduling, and the real-time performance of task scheduling is improved. The distributed task scheduling methodis implemented by the steps that a decision-making unmanned aerial vehicle allocates a task to each unmanned aerial vehicle and sends an execution instruction to each unmanned aerial vehicle; all the unmanned aerial vehicle fleet execute the tasks according to the execution instructions sent by the decision-making unmanned aerial vehicle, and communicate with the decision-making unmanned aerialvehicle through a heartbeat mechanism; the decision-making unmanned aerial vehicle conducts optimal scheduling on the tasks of all the unmanned aerial vehicle fleet; the unmanned aerial vehicle fleetexecute the tasks which are determined again according to the flight paths respectively, and formation is kept; the decision-making unmanned aerial vehicle monitors the task completion conditions of all the unmanned aerial vehicle fleet, and when all the tasks are completed, the unmanned aerial vehicle fleet makes a return voyage. By means of the distributed task scheduling method, the unmanned aerial vehicle fleet can select a correct scheduling method according to the change of the dynamic environment, the real-time performance of task scheduling is improved, and the unmanned aerial vehiclefleet can autonomously execute the task.

Description

Technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and relates to a distributed task scheduling method of unmanned aerial vehicles in a dynamic environment, which can be used in the fields of forest fire prevention, power inspection, environmental monitoring, disaster inspection, terrorism and lifesaving. Background technique [0002] As one of the modern high-tech equipment, the unique role of drones in military and civilian applications has been paid more and more attention, and the technology related to drones has experienced decades of development and accumulation, and has become increasingly mature. As the environment in which UAVs perform missions becomes increasingly complex and mission types become increasingly diverse, UAVs have begun to develop from a single sort of independent mission to a multi-sort, multi-type fleet combat direction. Compared with a stand-alone system, UAV clusters can better utilize the advantages of mul...

AI Technical Summary

Problems solved by technology

This method can dispatch and control the UAV swarm, but the disadvantages are: 1. The UAV swarm of this method needs to communicate with the ground control station during the execution of the mission. When the data between the UAV and the ground station When the communication is interrupted, it will directly lead to the failure of the mission, and the autonomous mission of the UAV group cannot be realized; 2. Due to the dynamics and uncertainty of the environment and the complexity of cooperative control, there will be many unpredictable situations after the mission starts. This method cannot perform real-time task scheduling for this dynamic situation

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