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Multi-unmanned aerial vehicle task assignment conflict resolution method under communication delay constraint

A task assignment and multi-UAV technology, which is applied in three-dimensional position/channel control and other directions, can solve problems such as threatening the safety of take-off and landing aircraft, and interfering with the operation order of the airport

Inactive Publication Date: 2019-06-21
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

For example, in recent years, some private drones have often hovered near the airport, interfering with the normal operation of the airport and seriously threatening the safety of aircraft taking off and landing.

Method used

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  • Multi-unmanned aerial vehicle task assignment conflict resolution method under communication delay constraint

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Embodiment Construction

[0039] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0040] Suppose the UAV formation consists of N u It consists of two drones, all of which are of the same type. There are N in the task execution area t goals, each with its own value V j (j=1,2...,N t ). The steps of the algorithm are as follows (see attached figure 1 ):

[0041] Step 1: Establish a multi-UAV cooperative task assignment model.

[0042] UAVs can perform 4 different tasks, that is, the default search task for the entire domain, and at the same time perform 3 tasks of classification, attack and verification for each known target, and must meet strict order requirements, that is, must first Target classification, re-strike, and finally verification.

[0043] When a new target is discovered or the target state changes, new information is input into the model, and the algorithm is run again. The algorithm model can be expressed as:

[0044] ...

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Abstract

The invention relates to a multi-unmanned aerial vehicle task assignment conflict resolution method under communication delay constraint. A method for setting a comparison threshold value and carryingout priority ranking on unmanned aerial vehicles predicting potential assignment conflicts with extremely low communication cost is designed for the problem that assignment conflicts may be caused bycommunication delay in a distributed structure by taking multi-unmanned aerial vehicle task assignment in a complex battlefield environment as a research background; and then communication in the formation is started, and an assignment scheme of each unmanned aerial vehicle is compared to determine a currently executable optimal task, so that the purpose of conflict resolution is achieved. The conflict resolution mechanism can accurately and efficiently predict and dispatch assignment conflicts, and has feasibility and reasonability. Due to the fact that dynamic threshold setting is adopted,the method has good applicability to different battle environments.

Description

technical field [0001] The invention relates to a method for multiple unmanned aerial vehicles to predict and resolve conflicts caused by communication delays in the process of task assignment, and to complete tasks such as search and strike. The related fields include cooperative control and communication technology. Background technique [0002] At present, the popularity of UAV technology is increasing day by day, and the scope of civilian use is becoming wider and wider, but the relevant controls still need to be further strengthened. For example, in recent years, some private drones have often hovered near the airport, interfering with the normal operation of the airport and seriously threatening the safety of aircraft taking off and landing. In the face of such problems, the use of UAVs to work together in formation has become a mainstream trend. In the future, multi-UAV collaborative task assignment and decision-making will face multiple constraints, multi-tasks, mult...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 符小卫冯鹏高晓光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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