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Multi-unmanned aerial vehicle distributed type contract auction online task planning method

A mission planning and multi-UAV technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve problems such as slow convergence speed and unguaranteed convergence

Active Publication Date: 2018-10-16
中国人民解放军火箭军工程大学
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Problems solved by technology

[0003] In order to overcome the problems of unguaranteed convergence and slow convergence speed in the traditional multi-UAV online task planning algorithm, the present invention provides a multi-UAV distributed contract auction online task planning method, which fully considers heterogeneous Multi-UAV performance and task execution requirements, established a problem model, and proposed a fully distributed contract auction online task planning algorithm to solve the problem, to achieve multi-UAV rapid mission planning

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] An online task planning method for multi-UAV distributed contract bidding provided by the present invention includes the following content:

[0045] 1. Establish a multi-UAV collaborative patrol path planning model

[0046] Step 1.1. In this step, it is defined as follows:

[0047] Definition 1: N u assemble for drones;

[0048] Definition 2: N t set for the target;

[0049] Definition 3: Decision variable x ij ∈{0,1},x ij = 1 means UAV i executes mission j, x ij = 0 for other situations;

[0050] Definition 4: L t The maximum number of missions assigned to each UAV;

[0051] Definition 5: Set path intersection node set P e ,e=1,2,...,E;

[0052] Definition 6: is a vector whose jth element is x ij ;

[0053] Definition 7: Set of drone identities target identity set

[0054] Definition 8: Vector Represents the ordered task sequence of UAV i; ...

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Abstract

The invention discloses a multi-unmanned aerial vehicle distributed type contract auction online task planning method. The method comprises the following steps that 1, a multi-unmanned aerial vehiclecooperative patrol route planning model is set up; 2, the patrol route planning model is solved through a distributed type contract auction online task planning algorithm. According to the method, theperformance and task executing needs of multiple heterogeneous unmanned aerial vehicles are fully considered, a problem model is set up, the completely distributed type contract auction online task planning algorithm is provided for solving a problem, and multi-unmanned aerial vehicle fast task planning is achieved.

Description

technical field [0001] The invention belongs to the field of multi-UAV collaborative task planning, and in particular relates to an online task planning method for multi-UAV distributed contract bidding. Background technique [0002] Multi-UAV collaborative inspection task planning technology mainly includes collaborative task allocation technology and path planning technology. Task allocation refers to defining the objective function of patrol revenue and assigning the task sequence according to the type and number of UAV resources and the attributes of the task area, under certain constraints, such as voyage time constraints, sensor performance constraints, task time window constraints, etc. For different UAVs, the benefit of achieving the objective function is the largest; the collaborative trajectory planning problem refers to pre-planning from the starting point of each UAV to the corresponding target point in an environment with known, partially known or unknown inform...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G06Q10/04
CPCG05D1/104G06Q10/047
Inventor 席建祥杨杰杨小冈范志良侯博王忠郑堂
Owner 中国人民解放军火箭军工程大学
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