Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Distributed Multi-UAV Task Allocation Method in Uncertain Environment

A multi-UAV and task allocation technology, applied in the direction of instruments, three-dimensional position/channel control, control/regulation system, etc., can solve the problem of large amount of calculation, and achieve the effect of high success rate and high task income

Active Publication Date: 2021-12-28
NORTHWESTERN POLYTECHNICAL UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the amount of calculation required by the existing methods is too large, how to improve the calculation efficiency of the algorithm without reducing the execution efficiency of the robust task allocation algorithm is a technical problem to be solved by those skilled in the art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Distributed Multi-UAV Task Allocation Method in Uncertain Environment
  • A Distributed Multi-UAV Task Allocation Method in Uncertain Environment
  • A Distributed Multi-UAV Task Allocation Method in Uncertain Environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0067] Such as figure 1 Shown, the steps of the present invention are as follows:

[0068] Step 1: Cooperative assignment model for multi-UAV time-sensitive tasks under uncertain parameters

[0069] UAV formation by N a It consists of two drones, all of which are of the same type. There are N in the task execution area t targets, the UAV formation needs to perform time-sensitive tasks for each target, and the execution time of each time-sensitive task is t j (j=1,2...,N t ), and its time window constraints are as follows:

[0070] ET j ≤t j ≤LT j (1-1)

[0071] Among them, ET j is the earliest allowable execution time of task j, LT j is the latest allowable start execution time of task j. The execution of a time-sensitive task must satisfy the time window cons...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a distributed multi-UAV task assignment method in an uncertain environment. Firstly, a collaborative task assignment model is established, and each UAV performs its own task bundle update and construction, and then the UAV formation conducts consensus negotiation , to achieve the goal of maximizing the overall revenue under uncertain parameters. The present invention utilizes the consistency bundle algorithm CBBA to solve the time-sensitive task collaborative allocation problem of multiple UAVs when the task environment has uncertain parameters under the distributed architecture, and uses the Gaussian process regression model to capture the impact of uncertain parameters on task allocation benefits Influence to participate in the assignment process to ensure the actual execution effect of task assignment results, and use active learning and manifold learning methods to improve the computational efficiency of the algorithm.

Description

technical field [0001] The invention relates to a multi-unmanned aerial vehicle task allocation method. Background technique [0002] At present, with the improvement of drone technology, multiple drones can form a cluster formation through coordination and cooperation to complete tasks that cannot or are difficult to complete with a single drone. Therefore, research on multi-UAV systems has received extensive attention. Multi-UAV task allocation is one of the key technologies for multi-UAV collaborative mission planning. Its goal is to optimize the overall performance of the mission based on the prior intelligence information of the mission area and target and under the premise of considering specific constraints. Or sub-optimal as the goal, and reasonably assign specific operational tasks to members of the UAV formation. With the continuous improvement of the performance of UAVs and the increase of interference factors in the mission environment, some prior data often ha...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 符小卫王辉潘静高晓光
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com