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
CN110134146BActive Publication Date: 2021-12-28NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NORTHWESTERN POLYTECHNICAL UNIV
Publication Date
2021-12-28

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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.
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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

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